[0001] This application claims priority to Chinese Patent Application No.
201711116441.8, filed with the Chinese Patent Office on November 13, 2017 and entitled "TRAFFIC
FLOW CONTROL METHOD AND APPARATUS IN INTERNET OF VEHICLES", which is incorporated
herein by reference in its entirety.
TECHNICAL FIELD
[0002] This application relates to the field of internet of vehicles, and more specifically,
to a traffic flow control method, a traffic flow control device, an in-vehicle device,
and a computer-readable storage medium in the internet of vehicles.
BACKGROUND
[0003] The internet of vehicles is an intelligent integrated network system that uses a
vehicle as a basic information unit and that connects road entities such as a pedestrian,
a vehicle, and a roadside facility to a traffic management network, a mobile network,
and a backup network by integrating a sensor technology, an information collection
technology, an access technology, a transmission technology, and a networking technology.
The internet of vehicles provides services for applications such as vehicle security,
traffic control, information service, and user network access, and is intended to
improve a traffic condition, improve travel efficiency, and expand information interaction.
[0004] The internet of vehicles has three characteristics: extensiveness, mobility, and
intelligence.
[0005] Extensiveness means that a vehicle defined in the internet of vehicles is a broad
concept, and includes a vehicle such as an airplane, a ship, and a train. In addition
to the vehicle, the internet of vehicles further includes related facilities such
as a roadside facility, an in-vehicle sensor, and a data server. For different communications
devices and network access manners, the internet of vehicles provides corresponding
interfaces.
[0006] Mobility is a fundamental characteristic of the internet of vehicles. Continuous
movement of vehicles leads to a complex and highly dynamic topology structure of the
internet of vehicles. The internet of vehicles can provide one or more interfaces
for a user at any location to meet a communication requirement of the user for accessing
the Internet, thereby implementing a real-time data service between a vehicle and
an internet of vehicles server.
[0007] Intelligence means that the internet of vehicles can proactively obtain information
about a vehicle and a road condition in real time by using various sensors and respond
accordingly, instead of passively collecting information and waiting for the information
to be processed.
[0008] How a vehicle in the internet of vehicles goes through an intersection is a technical
problem that needs to be urgently resolved.
SUMMARY
[0009] This application provides a traffic flow control method, a traffic flow control device,
and an in-vehicle device in the internet of vehicles, to help a vehicle in the internet
of vehicles travel safely and efficiently at an intersection.
[0010] According to a first aspect, this application provides a traffic flow control method
in the internet of vehicles. The traffic flow control method includes:
receiving, by a traffic flow control device, traffic control request signaling sent
by an in-vehicle device of a first vehicle, where the traffic control request signaling
includes travel information of the first vehicle and a travel intention of the first
vehicle;
determining, by the traffic flow control device, traffic command signaling based on
the traffic control request signaling and traffic control phase information of a target
intersection, where the target intersection is an intersection through which the first
vehicle is to pass; and
sending, by the traffic flow control device, the traffic command signaling to the
in-vehicle device.
[0011] In the traffic flow control method, the traffic flow control device sends the traffic
command signaling to the first vehicle based on the travel information of the first
vehicle, the travel intention of the first vehicle, and the traffic phase control
information of the target intersection, so that the first vehicle is enabled to travel
at the target intersection as instructed by the traffic command signaling.
[0012] With reference to the first aspect, in a first possible implementation, the traffic
flow control method further includes:
determining, by the traffic flow control device, an entrance lane and an exit lane
of the first vehicle at the target intersection based on the travel information, the
travel intention, and lane information of the target intersection, where the entrance
lane is a lane that is allocated by the traffic flow control device to the first vehicle
for entering the target intersection, and the exit lane is a lane that is allocated
by the traffic flow control device to the first vehicle for exiting from the target
intersection; or
determining, by the traffic flow control device, an entrance lane and an exit lane
of the first vehicle at the target intersection based on the travel information, the
travel intention, lane information of the target intersection, and traffic flow information
of the target intersection.
[0013] With reference to the first possible implementation, in a second possible implementation,
the travel information includes a location of the first vehicle and a speed of the
first vehicle; and
the traffic flow control method further includes:
determining, by the traffic flow control device, a first time based on the speed of
the first vehicle, the location of the first vehicle, and a lane in which the first
vehicle is located, where the first time is a time required for the first vehicle
to travel off a stopline of the lane in which the first vehicle is located from the
location of the first vehicle along the lane in which the first vehicle is located,
and the lane in which the first vehicle is located is obtained by the traffic flow
control device through calculation based on the location of the first vehicle and
the lane information of the target intersection, or the lane in which the first vehicle
is located is carried in the travel information.
[0014] With reference to the second possible implementation, in a third possible implementation,
the travel information further includes an acceleration of the first vehicle; and
the determining, by the traffic flow control device, a first time based on the speed
of the first vehicle, the location of the first vehicle, and a lane in which the first
vehicle is located includes:
determining, by the traffic flow control device, the first time based on the speed
of the first vehicle, the location of the first vehicle, the lane in which the first
vehicle is located, and the acceleration of the first vehicle.
[0015] With reference to the first possible implementation, in a fourth possible implementation,
the travel information includes a location of the first vehicle; and
the traffic flow control method further includes:
determining, by the traffic flow control device, a first time based on a preset vehicle
speed at the target intersection, the location of the first vehicle, and a lane in
which the first vehicle is located, where the first time is a time required for the
first vehicle to travel off a stopline of the lane in which the first vehicle is located
from the location of the first vehicle along the lane in which the first vehicle is
located, and the lane in which the first vehicle is located is obtained by the traffic
flow control device through calculation based on the location of the first vehicle
and the lane information of the target intersection, or the lane in which the first
vehicle is located is carried in the travel information.
[0016] With reference to the second or the third possible implementation, in a fifth possible
implementation, the determining, by the traffic flow control device, traffic command
signaling based on the traffic control request signaling and traffic control phase
information of a target intersection includes:
when a traffic control phase corresponding to the traffic control phase information
of the target intersection is a green-go phase, and a remaining time of the green-go
phase is longer than or equal to the first time, determining, by the traffic flow
control device, that the traffic command signaling is go command signaling, where
the go command signaling includes the traffic control phase information of the target
intersection and information about the exit lane.
[0017] With reference to the second or the third possible implementation, in a sixth possible
implementation, the determining, by the traffic flow control device, traffic command
signaling based on the traffic control request signaling and traffic control phase
information of a target intersection includes:
when a traffic control phase corresponding to the traffic control phase information
of the target intersection is a green-go phase, and a remaining time of the green-go
phase is shorter than the first time, determining, by the traffic flow control device,
that the traffic command signaling is first stop command signaling, where the first
stop command signaling includes the traffic control phase information of the target
intersection and location information of the stopline of the lane in which the first
vehicle is located.
[0018] With reference to the sixth possible implementation, in a seventh possible implementation,
the traffic flow control method further includes:
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches again to the green-go phase, and the traffic flow
control device learns through monitoring that the first vehicle has traveled to the
stopline, sending, by the traffic flow control device, go command signaling to the
in-vehicle device, where the go command signaling includes the traffic control phase
information of the target intersection and information about the exit lane; or
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches again to the green-go phase, and the traffic flow
control device learns through monitoring that a time required for the first vehicle
to travel off the stopline of the lane in which the first vehicle is located from
a current location of the first vehicle at a current speed and acceleration of the
first vehicle along the lane in which the first vehicle is located is shorter than
or equal to a remaining time of the green-go phase to which the traffic control phase
switches again, sending, by the traffic flow control device, go command signaling
to the in-vehicle device, where the go command signaling includes the traffic control
phase information of the target intersection and information about the exit lane;
or
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches again to the green-go phase, and the traffic flow
control device learns through monitoring that a time required for the first vehicle
to travel off the stopline of the lane in which the first vehicle is located from
a current location of the first vehicle at a current speed and acceleration of the
first vehicle along the lane in which the first vehicle is located is longer than
a remaining time of the green-go phase to which the traffic control phase switches
again, sending, by the traffic flow control device, second stop command signaling
to the in-vehicle device, where the second stop command signaling includes the traffic
control phase information of the target intersection and the location information
of the stopline of the lane in which the first vehicle is located.
[0019] With reference to the first, the second, or the third possible implementation, in
an eighth possible implementation, the determining, by the traffic flow control device,
traffic command signaling based on the traffic control request signaling and traffic
control phase information of a target intersection includes:
when a traffic control phase corresponding to current traffic control phase information
of the target intersection is a red-stop phase, determining, by the traffic flow control
device, that the traffic command signaling is first stop command signaling, where
the first stop command signaling includes the traffic control phase information of
the target intersection and location information of the stopline of the lane in which
the first vehicle is located, and the lane in which the first vehicle is located is
obtained by the traffic flow control device through calculation based on the location
of the first vehicle and the lane information of the target intersection, or the lane
in which the first vehicle is located is carried in the travel information.
[0020] With reference to the eighth possible implementation, in a ninth possible implementation,
the traffic flow control method further includes:
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches to a green-go phase, and the traffic flow control
device learns through monitoring that the first vehicle has traveled to the stopline,
sending, by the traffic flow control device, go command signaling to the in-vehicle
device, where the go command signaling includes the traffic control phase information
of the target intersection and information about the exit lane; or
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches to a green-go phase, and the traffic flow control
device learns through monitoring that a time required for the first vehicle to travel
off the stopline of the lane in which the first vehicle is located from a current
location of the first vehicle at a current speed and acceleration of the first vehicle
along the lane in which the first vehicle is located is shorter than or equal to a
remaining time of the green-go phase, sending, by the traffic flow control device,
go command signaling to the in-vehicle device, where the go command signaling includes
the traffic control phase information of the target intersection and information about
the exit lane; or
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches to a green-go phase, and the traffic flow control
device learns through monitoring that a time required for the first vehicle to travel
off the stopline of the lane in which the first vehicle is located from a current
location of the first vehicle at a current speed and acceleration of the first vehicle
along the lane in which the first vehicle is located is longer than a remaining time
of the green-go phase, sending, by the traffic flow control device, second stop command
signaling to the in-vehicle device, where the second stop command signaling include
the traffic control phase information of the target intersection and location information
of the stopline of the lane in which the first vehicle is located.
[0021] With reference to the fourth possible implementation, in a tenth possible implementation,
the determining, by the traffic flow control device, traffic command signaling based
on the traffic control request signaling and traffic control phase information of
a target intersection includes:
when a traffic control phase corresponding to the traffic control phase information
of the target intersection is a green-go phase, and a remaining time of the green-go
phase is longer than or equal to the first time, determining, by the traffic flow
control device, that the traffic command signaling is go command signaling, where
the go command signaling includes the traffic control phase information of the target
intersection, information about the exit lane, and the preset vehicle speed at the
target intersection.
[0022] With reference to the fourth possible implementation, in an eleventh possible implementation,
the determining, by the traffic flow control device, traffic command signaling based
on the traffic control request signaling and traffic control phase information of
a target intersection includes:
when a traffic control phase corresponding to the traffic control phase information
of the target intersection is a green-go phase, and a remaining time of the green-go
phase is shorter than the first time, determining, by the traffic flow control device,
that the traffic command signaling is first stop command signaling, where the first
stop command signaling includes the traffic control phase information of the target
intersection, location information of the stopline of the lane in which the first
vehicle is located, and the preset vehicle speed at the target intersection.
[0023] With reference to the eleventh possible implementation, in a twelfth possible implementation,
the traffic flow control method further includes:
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches again to the green-go phase, and the traffic flow
control device learns through monitoring that the first vehicle has traveled to the
stopline, sending, by the traffic flow control device, go command signaling to the
in-vehicle device, where the go command signaling includes the traffic control phase
information of the target intersection, information about the exit lane, and the preset
vehicle speed at the target intersection; or
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches again to the green-go phase, and the traffic flow
control device learns through monitoring that a time required for the first vehicle
to travel off the stopline of the lane in which the first vehicle is located from
a current location of the first vehicle at the preset vehicle speed at the target
intersection along the lane in which the first vehicle is located is shorter than
or equal to a remaining time of the green-go phase to which the traffic control phase
switches again, sending, by the traffic flow control device, go command signaling
to the in-vehicle device, where the go command signaling includes the traffic control
phase information of the target intersection, information about the exit lane, and
the preset vehicle speed at the target intersection; or
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches again to the green-go phase, and the traffic flow
control device learns through monitoring that a time required for the first vehicle
to travel off the stopline of the lane in which the first vehicle is located from
a current location of the first vehicle at the preset vehicle speed at the target
intersection along the lane in which the first vehicle is located is longer than a
remaining time of the green-go phase to which the traffic control phase switches again,
sending, by the traffic flow control device, second stop command signaling to the
in-vehicle device, where the second stop command signaling includes the traffic control
phase information of the target intersection, the location information of the stopline
of the lane in which the first vehicle is located, and the preset vehicle speed at
the target intersection.
[0024] With reference to the fourth possible implementation, in a thirteenth possible implementation,
the determining, by the traffic flow control device, traffic command signaling based
on the traffic control request signaling and traffic control phase information of
a target intersection includes:
when a traffic control phase corresponding to the traffic control phase information
of the target intersection is a red-stop phase, determining, by the traffic flow control
device, that the traffic command signaling is first stop command signaling, where
the first stop command signaling includes the traffic control phase information of
the target intersection, location information of the stopline of the lane in which
the first vehicle is located, and the preset vehicle speed at the target intersection.
[0025] With reference to the thirteenth possible implementation, in a fourteenth possible
implementation, the traffic flow control method further includes:
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches to a green-go phase, and the traffic flow control
device learns through monitoring that the first vehicle has traveled to the stopline,
sending, by the traffic flow control device, go command signaling to the in-vehicle
device, where the go command signaling includes the traffic control phase information
of the target intersection, information about the exit lane, and the preset vehicle
speed at the target intersection; or
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches to a green-go phase, and the traffic flow control
device learns through monitoring that a time required for the first vehicle to travel
off the stopline of the lane in which the first vehicle is located from a current
location of the first vehicle at the preset vehicle speed at the target intersection
along the lane in which the first vehicle is located is shorter than or equal to a
time of the green-go phase, sending, by the traffic flow control device, go command
signaling to the in-vehicle device, where the go command signaling includes the traffic
control phase information of the target intersection, information about the exit lane,
and the preset vehicle speed at the target intersection; or
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches to a green-go phase, and the traffic flow control
device learns through monitoring that a time required for the first vehicle to travel
off the stopline of the lane in which the first vehicle is located from a current
location of the first vehicle at the preset vehicle speed at the target intersection
along the lane in which the first vehicle is located is longer than a time of the
green-go phase, sending, by the traffic flow control device, second stop command signaling
to the in-vehicle device, where the second stop command signaling includes the traffic
control phase information of the target intersection, the location information of
the stopline of the lane in which the first vehicle is located, and the preset vehicle
speed at the target intersection.
[0026] With reference to the second or the third possible implementation, in a fifteenth
possible implementation, the determining, by the traffic flow control device, traffic
command signaling based on the traffic control request signaling and traffic control
phase information of a target intersection includes:
after the first time, when a traffic control phase corresponding to the traffic control
phase information of the target intersection is a green-go phase, determining, by
the traffic flow control device, that the traffic command signaling is go command
signaling, where the go command signaling includes traffic control phase information
of the target intersection obtained after the first time and information about the
exit lane; or
after the first time, when a traffic control phase corresponding to the traffic control
phase information of the target intersection is a red-stop phase, determining, by
the traffic flow control device, that the traffic command signaling is stop command
signaling, where the stop command signaling includes traffic control phase information
of the target intersection obtained after the first time and location information
of the stopline of the lane in which the first vehicle is located.
[0027] With reference to the fourth possible implementation, in a sixteenth possible implementation,
the determining, by the traffic flow control device, traffic command signaling based
on the traffic control request signaling and traffic control phase information of
a target intersection includes:
after the first time, when a traffic control phase corresponding to the traffic control
phase information of the target intersection is a green-go phase, determining, by
the traffic flow control device, that the traffic command signaling is go command
signaling, where the go command signaling includes traffic control phase information
of the target intersection obtained after the first time, the preset vehicle speed
at the target intersection, and information about the exit lane; or
after the first time, when a traffic control phase corresponding to the traffic control
phase information of the target intersection is a red-stop phase, determining, by
the traffic flow control device, that the traffic command signaling is stop command
signaling, where the stop command signaling includes traffic control phase information
of the target intersection obtained after the first time, the preset vehicle speed
at the target intersection, and location information of the stopline of the lane in
which the first vehicle is located.
[0028] With reference to the first possible implementation, in a seventeenth possible implementation,
the determining, by the traffic flow control device, traffic command signaling based
on the traffic control request signaling and traffic control phase information of
a target intersection includes:
when a distance between the first vehicle and a second vehicle that travels ahead
of the first vehicle and that is located in the lane in which the first vehicle is
located is less than a preset distance threshold, sending, by the traffic flow control
device, follow command signaling to the in-vehicle device, where the follow command
signaling includes identification information of the second vehicle, and the lane
in which the first vehicle is located is obtained by the traffic flow control device
through calculation based on a location of the first vehicle and the lane information
of the target intersection, or the lane in which the first vehicle is located is carried
in the travel information.
[0029] With reference to the seventeenth possible implementation, in an eighteenth possible
implementation, the traffic flow control method further includes:
when a traffic control phase corresponding to the traffic control phase information
of the target intersection is a green-go phase, a time required for the second vehicle
to travel off a stopline of the lane in which the first vehicle is located from a
current location of the second vehicle is shorter than or equal to a remaining time
of the green-go phase, and a time required for the first vehicle to travel off the
stopline of the lane in which the first vehicle is located from a current location
of the first vehicle is longer than the remaining time of the green-go phase, sending,
by the traffic flow control device, stop command signaling to the in-vehicle device,
where the stop command signaling includes the traffic control phase information of
the target intersection and location information of the stopline of the lane in which
the first vehicle is located.
[0030] With reference to the eighteenth possible implementation, in a nineteenth possible
implementation, the traffic flow control method further includes:
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches again to the green-go phase, and the traffic flow
control device learns through monitoring that the first vehicle has traveled to the
stopline of the lane in which the first vehicle is located, sending, by the traffic
flow control device, go command signaling to the in-vehicle device, where the go command
signaling includes the traffic control phase information of the target intersection
and information about the exit lane.
[0031] With reference to the first possible implementation, in a twentieth possible implementation,
the determining, by the traffic flow control device, traffic command signaling based
on the traffic control request signaling and traffic control phase information of
a target intersection includes:
when a lane in which the first vehicle is located is not the entrance lane, sending,
by the traffic flow control device, lane change command signaling to the in-vehicle
device, where the lane change command signaling includes information about the entrance
lane, and the lane in which the first vehicle is located is obtained by the traffic
flow control device through calculation based on a location of the first vehicle and
the lane information of the target intersection, or the lane in which the first vehicle
is located is carried in the travel information.
[0032] With reference to the twentieth possible implementation, in a twenty-first possible
implementation, the traffic flow control method further includes:
sending, by the traffic flow control device, stop command signaling or deceleration
command signaling to a third vehicle that is in the entrance lane and that is at the
rear of the first vehicle, where the stop command signaling includes information about
a location at which the third vehicle is to stop, and the deceleration command signaling
includes speed information of the third vehicle after deceleration.
[0033] With reference to any one of the first to the twenty-first possible implementations,
in a twenty-second possible implementation, the determining, by the traffic flow control
device, an entrance lane and an exit lane of the first vehicle at the target intersection
based on the travel information, the travel intention, lane information of the target
intersection, and traffic flow information of the target intersection includes:
determining, by the traffic flow control device, a plurality of entrance lanes based
on the travel intention and the lane information of the target intersection;
determining, by the traffic flow control device, the entrance lane from the plurality
of entrance lanes based on the traffic flow information of the target intersection
and the lane in which the first vehicle is located, where the lane in which the first
vehicle is located is obtained by the traffic flow control device through calculation
based on the location of the first vehicle and the lane information of the target
intersection, or the lane in which the first vehicle is located is carried in the
travel information;
determining, by the traffic flow control device, a plurality of exit lanes based on
the travel intention and the lane information of the target intersection; and
determining, by the traffic flow control device, the exit lane from the plurality
of exit lanes based on the traffic flow information of the target intersection and
the entrance lane.
[0034] With reference to any one of the first to the twenty-second possible implementations,
in a twenty-third possible implementation, the traffic control phase information of
the target intersection is traffic control phase information that is obtained by the
traffic flow control device from a traffic signal light of the target intersection,
or is traffic control phase information that is generated by the traffic flow control
device.
[0035] According to a second aspect, this application provides a traffic flow control method
in the internet of vehicles. The traffic flow control method includes: sending, by
an in-vehicle device of a first vehicle, traffic control request signaling to a traffic
flow control device, where the traffic control request signaling includes travel information
of the first vehicle and a travel intention of the first vehicle, and the first vehicle
is located in a management area of the traffic flow control device; and receiving,
by the in-vehicle device, traffic command signaling sent by the traffic flow control
device, so that the first vehicle travels according to the traffic command signaling,
where the traffic command signaling is determined by the traffic flow control device
based on the traffic control request signaling and traffic control phase information
of a target intersection, and the target intersection is an intersection through which
the first vehicle is to pass.
[0036] In the traffic flow control method, after sending the travel information to the traffic
flow control device, the first vehicle receives the traffic command signaling that
is sent by the traffic flow control device based on the travel information of the
first vehicle, the travel intention of the first vehicle, and the traffic control
phase information, and travels according to the traffic control signaling.
[0037] With reference to the second aspect, in a first possible implementation, the traffic
command signaling includes at least one of go command signaling, stop command signaling,
follow command signaling, and lane change command signaling, where the go command
signaling includes the traffic control phase information of the target intersection
and information about an exit lane of the first vehicle at the target intersection,
or the go command signaling includes the traffic control phase information of the
target intersection, a preset vehicle speed at the target intersection, and information
about an exit lane of the first vehicle at the target intersection; the stop command
signaling includes traffic control phase information and location information of a
stopline of a lane in which the first vehicle is located; the follow command signaling
includes identification information of a second vehicle, where the second vehicle
is a vehicle that travels ahead of the first vehicle and that is located in the lane
in which the first vehicle is located, and a distance between the second vehicle and
the first vehicle is less than a preset distance threshold; and the lane change command
signaling includes information about an entrance lane of the first vehicle at the
target intersection.
[0038] According to a third aspect, this application provides a traffic flow control method
in the internet of vehicles. The traffic flow control method includes: receiving,
by a traffic flow control device, traffic control request signaling sent by a first
vehicle, where the traffic control request signaling includes current travel information
of the first vehicle and a travel intention of the first vehicle; determining, by
the traffic flow control device, follow command signaling based on the traffic control
request signaling, where the follow command signaling includes identification information
of a second vehicle that travels ahead of the first vehicle; and sending, by the traffic
flow control device, the follow command signaling to the first vehicle.
[0039] In the traffic flow control method, the traffic flow control device sends the follow
command signaling to the first vehicle based on the travel information and/or the
travel intention of the first vehicle, to instruct the first vehicle to follow the
second vehicle in traveling, thereby reducing traffic command signaling.
[0040] The travel intention of the first vehicle may be a destination of the first vehicle,
or may be a road segment through which the first vehicle is likely to pass during
traveling.
[0041] With reference to the third aspect, in a first possible implementation, the travel
information includes a location of the first vehicle and a lane in which the first
vehicle is located. The determining, by the traffic flow control device, follow command
signaling based on the traffic control request signaling includes: determining, by
the traffic flow control device, the follow command signaling when the traffic flow
control device determines, based on the travel information, that the first vehicle
and the second vehicle are in the same lane, and a distance between the second vehicle
and the first vehicle is less than a preset distance threshold, and the traffic flow
control device determines, based on the travel intention, that the travel intention
of the first vehicle is the same as a travel intention of the second vehicle.
[0042] The travel intention of the second vehicle may be a destination of the second vehicle,
or may be a road segment through which the second vehicle is likely to pass during
traveling.
[0043] According to a fourth aspect, this application provides a traffic flow control method
in the internet of vehicles. The traffic flow control method includes:
sending, by an in-vehicle device, traffic control request signaling to a traffic flow
control device, where the traffic control request signaling includes travel information
of a first vehicle to which the in-vehicle device belongs and a travel intention of
the first vehicle; and receiving, by the in-vehicle device, follow command signaling
sent by the traffic flow control device, so that the first vehicle travels according
to the traffic command signaling, where the follow command signaling includes identification
information of a second vehicle that travels ahead of the first vehicle, and the follow
command signaling is determined by the traffic flow control device based on the traffic
control request signaling.
[0044] In the traffic flow control method, the first vehicle sends the travel information
and the travel intention of the first vehicle to the traffic flow control device,
so that the traffic flow control device sends the traffic command signaling to the
first vehicle based on the travel information and the travel intention of the first
vehicle, to instruct the first vehicle to follow the second vehicle in traveling,
thereby reducing traffic command signaling.
[0045] The travel intention of the first vehicle may be a destination of the first vehicle,
or may be a road segment through which the first vehicle is likely to pass during
traveling.
[0046] With reference to the fourth aspect, in a first possible implementation, the travel
information includes a location of the first vehicle and a lane in which the first
vehicle is located.
[0047] According to a fifth aspect, this application provides a traffic flow control device.
The traffic flow control device includes a module configured to perform the traffic
flow control method in any one of the first aspect or the possible implementations
of the first aspect. The module included in the traffic flow control device may be
implemented by software and/or hardware.
[0048] According to a sixth aspect, this application provides an in-vehicle device. The
in-vehicle device includes a module configured to perform the traffic flow control
method in any one of the second aspect or the possible implementations of the second
aspect. The module included in the in-vehicle device may be implemented by software
and/or hardware.
[0049] According to a seventh aspect, this application provides a traffic flow control device.
The traffic flow control device includes a module configured to perform the traffic
flow control method in any one of the third aspect or the possible implementations
of the third aspect. The module included in the traffic flow control device may be
implemented by software and/or hardware.
[0050] According to an eighth aspect, this application provides an in-vehicle device. The
in-vehicle device includes a module configured to perform the traffic flow control
method in any one of the fourth aspect or the possible implementations of the fourth
aspect. The module included in the in-vehicle device may be implemented by software
and/or hardware.
[0051] According to a ninth aspect, this application provides a traffic flow control device.
The traffic flow control device includes a processor, a receiver, and a transmitter.
The processor is configured to execute a program. When the processor executes code,
the receiver and the transmitter are configured to implement the traffic flow control
method in any one of the first aspect or the possible implementations of the first
aspect.
[0052] Optionally, the traffic flow control device may further include a memory, where the
memory is configured to store the code executed by the processor.
[0053] According to a tenth aspect, this application provides an in-vehicle device. The
in-vehicle device includes a processor, a receiver, and a transmitter. The processor
is configured to execute a program. When the processor executes code, the receiver
and the transmitter are configured to implement the traffic flow control method in
any one of the second aspect or the possible implementations of the second aspect.
[0054] Optionally, the in-vehicle device may further include a memory, where the memory
is configured to store the code executed by the processor.
[0055] According to an eleventh aspect, this application provides a traffic flow control
device. The traffic flow control device includes a processor, a receiver, and a transmitter.
The processor is configured to execute a program. When the processor executes code,
the receiver and the transmitter are configured to implement the traffic flow control
method in any one of the third aspect or the possible implementations of the third
aspect.
[0056] Optionally, the traffic flow control device may further include a memory, where the
memory is configured to store the code executed by the processor.
[0057] According to a twelfth aspect, this application provides an in-vehicle device. The
in-vehicle device includes a processor, a receiver, and a transmitter. The processor
is configured to execute a program. When the processor executes code, the receiver
and the transmitter are configured to implement the traffic flow control method in
any one of the fourth aspect or the possible implementations of the fourth aspect.
[0058] Optionally, the in-vehicle device may further include a memory, where the memory
is configured to store the code executed by the processor.
[0059] According to a thirteenth aspect, this application provides a computer-readable storage
medium. The computer-readable storage medium stores program code to be executed by
a traffic flow control device. The program code includes an instruction used for performing
the traffic flow control method in any one of the first aspect or the possible implementations
of the first aspect.
[0060] According to a fourteenth aspect, this application provides a computer-readable storage
medium. The computer-readable storage medium stores program code to be executed by
an in-vehicle device. The program code includes an instruction used for performing
the traffic flow control method in any one of the second aspect or the possible implementations
of the second aspect.
[0061] According to a fifteenth aspect, this application provides a computer-readable storage
medium. The computer-readable storage medium stores program code to be executed by
a traffic flow control device. The program code includes an instruction used for performing
the traffic flow control method in any one of the third aspect or the possible implementations
of the third aspect.
[0062] According to a sixteenth aspect, this application provides a computer-readable storage
medium. The computer-readable storage medium stores program code to be executed by
an in-vehicle device. The program code includes an instruction used for performing
the traffic flow control method in any one of the fourth aspect or the possible implementations
of the fourth aspect.
[0063] According to a seventeenth aspect, this application provides a computer program product
including an instruction. When the computer program product is run on a traffic flow
control device, the traffic flow control device is enabled to perform the traffic
flow control method in any one of the first aspect or the possible implementations
of the first aspect.
[0064] According to an eighteenth aspect, this application provides a computer program product
including an instruction. When the computer program product is run on an in-vehicle
device, the in-vehicle device is enabled to perform the traffic flow control method
in any one of the second aspect or the possible implementations of the second aspect.
[0065] According to a nineteenth aspect, this application provides a computer program product
including an instruction. When the computer program product is run on a traffic flow
control device, the traffic flow control device is enabled to perform the traffic
flow control method in any one of the third aspect or the possible implementations
of the third aspect.
[0066] According to a twentieth aspect, this application provides a computer program product
including an instruction. When the computer program product is run on an in-vehicle
device, the in-vehicle device is enabled to perform the traffic flow control method
in any one of the fourth aspect or the possible implementations of the fourth aspect.
[0067] According to a twenty-first aspect, a system chip is provided. The system chip includes
an input/output interface, at least one processor, at least one memory, and a bus.
The at least one memory is configured to store an instruction, and the at least one
processor is configured to invoke the instruction stored in the at least one memory,
to perform operations in the traffic flow control methods in the foregoing aspects.
[0068] According to a twenty-second aspect, this application provides a vehicle. The vehicle
includes the in-vehicle device in the sixth aspect, the eighth aspect, the tenth aspect,
or the twelfth aspect.
BRIEF DESCRIPTION OF DRAWINGS
[0069]
FIG 1 is a schematic diagram of an application scenario of a traffic flow control
method according to an embodiment of this application;
FIG 2 is a schematic flowchart of a traffic flow control method according to an embodiment
of this application;
FIG 3 is a schematic flowchart of a traffic flow control method according to another
embodiment of this application;
FIG 4A and FIG 4B are a schematic flowchart of a traffic flow control method according
to another embodiment of this application;
FIG 5A and FIG 5B are a schematic flowchart of a traffic flow control method according
to another embodiment of this application;
FIG 6A and FIG 6B are a schematic flowchart of a traffic flow control method according
to another embodiment of this application;
FIG 7 is a schematic flowchart of a traffic flow control device according to an embodiment
of this application;
FIG. 8 is a schematic flowchart of an in-vehicle device according to an embodiment
of this application;
FIG. 9 is a schematic flowchart of a traffic flow control device according to another
embodiment of this application;
FIG. 10 is a schematic flowchart of an in-vehicle device according to another embodiment
of this application;
FIG. 11 is a schematic flowchart of a traffic flow control device according to an
embodiment of this application;
FIG. 12 is a schematic flowchart of an in-vehicle device according to an embodiment
of this application;
FIG. 13 is a schematic flowchart of a traffic flow control device according to another
embodiment of this application; and
FIG. 14 is a schematic flowchart of an in-vehicle device according to another embodiment
of this application.
DESCRIPTION OF EMBODIMENTS
[0070] The following describes technical solutions of this application with reference to
accompanying drawings.
[0071] An intersection in an application scenario shown in FIG. 1 includes roads in four
directions. One road includes lanes in two directions, where a lane in one direction
is an entrance lane, and a lane in the other direction is an exit lane. It should
be noted that the entrance lane described herein is a lane for entering an area within
an intersection, and an exit lane described herein is a lane for exiting from the
area within the intersection. There is a stopline before the entrance lane.
[0072] One road includes three entrance lanes, where one entrance lane is a right-turn lane,
one entrance lane is a straight lane, and one lane is a left-turn lane.
[0073] It should be understood that the application scenario shown in FIG. 1 is only an
example, and a traffic flow control method, a traffic flow control device, and an
in-vehicle device in the embodiments of this application are not limited to the application
scenario.
[0074] For example, in an application scenario of the traffic flow control method, the traffic
flow control device, and the in-vehicle device in the embodiments of this application,
roads in more or less directions may be included, and/or a road in each direction
may include more or less lanes, a common lane for turning left and going straight,
and/or the like.
[0075] FIG. 2 is a schematic flowchart of a traffic flow control method according to an
embodiment of this application. It should be understood that FIG. 2 shows steps or
operations of the traffic flow control method, but these steps or operations are only
an example. In this embodiment of this application, other operations or variations
of the operations in FIG. 2 may also be performed. In addition, the steps in FIG.
2 may be performed in a sequence different from that presented in FIG. 2, and possibly
not all operations in FIG. 2 need to be performed.
[0076] The traffic flow control method shown in FIG. 2 may include S210, S220, and S230.
[0077] S210: An in-vehicle device of a first vehicle sends traffic control request signaling
to a traffic flow control device, where the traffic control request signaling includes
travel information of the first vehicle and a travel intention of the first vehicle.
The first vehicle is located within a service area of the traffic flow control device.
[0078] Correspondingly, the traffic flow control device receives the traffic control request
signaling sent by the in-vehicle device of the first vehicle.
[0079] For example, the traffic flow control device may be deployed near a target intersection
of the first vehicle, and when the first vehicle travels into the service area of
the traffic flow control device, the in-vehicle device on the first vehicle sends
the traffic control request signaling to the traffic flow control device. The target
intersection is an intersection through which the first vehicle is to pass.
[0080] The travel information of the first vehicle may include at least one of the following
information: a location of the first vehicle, a speed of the first vehicle, an acceleration
of the first vehicle, and a lane in which the first vehicle is located.
[0081] The travel intention of the first vehicle may include one or more of turning left,
going straight, turning right, turning around, an exit lane of the first vehicle,
and a target road of the first vehicle.
[0082] S220: The traffic flow control device determines traffic command signaling based
on the traffic control request signaling and traffic control phase information of
a target intersection.
[0083] The traffic control phase information of the target intersection may include a phase
of a traffic signal light at the target intersection and a remaining time of the phase,
or may include a traffic signal phase that is simulated by the traffic flow control
device and a remaining time of the traffic signal phase.
[0084] For example, the phase of the traffic signal light may be a red-light phase, a green-light
phase, or a yellow-light phase, and the remaining time of the phase of the traffic
signal light may be, for example, 30 seconds.
[0085] The traffic command signaling may include go command signaling used to command the
first vehicle to go; stop command signaling used to command the first vehicle to stop;
follow command signaling used to command the first vehicle to follow another vehicle
in traveling; lane change command signaling used to command the first vehicle to change
lane; deceleration command signaling used to command the first vehicle to slow down;
and the like.
[0086] The go command signaling may include at least one of current traffic control phase
information of the target intersection, information about an entrance lane of the
first vehicle at the target intersection, a preset vehicle speed at the target intersection,
and information about an exit lane of the first vehicle at the target intersection.
The stop command signaling may include at least one of current traffic control phase
information of the target intersection, a preset vehicle speed at the target intersection,
and location information of a stopline of an entrance lane of the first vehicle at
the target intersection. The follow command signaling may include identification information
of a second vehicle. The lane change command signaling may include lane information
after lane change. The deceleration command signaling may include speed information
after deceleration.
[0087] The second vehicle is a vehicle that is located in a same lane as the first vehicle
and that has a distance from the first vehicle, where the distance is less than a
preset distance threshold. The entrance lane of the first vehicle is a lane that is
allocated by the traffic flow control device to the first vehicle for entering the
target intersection, and the exit lane is a lane that is allocated by the traffic
flow control device to the first vehicle for exiting from the target intersection.
[0088] Optionally, the entrance lane and the exit lane of the first vehicle may be determined
by the traffic flow control device based on the travel information of the first vehicle,
the travel intention of the first vehicle, and lane information of the target intersection.
Alternatively, the entrance lane and the exit lane of the first vehicle may be determined
by the traffic flow control device based on the travel information of the first vehicle,
the travel intention of the first vehicle, lane information of the target intersection,
and traffic flow information of the target intersection.
[0089] The lane information of the target intersection may include: A vehicle to turn left
travels in a left-most lane, a vehicle to go straight travels in the left-most lane
or a middle lane, and a vehicle to turn right travels in a right-most lane.
[0090] The traffic flow information of the target intersection may be understood as a set
of vehicles in lanes at the target intersection. For example, the traffic flow information
of the target intersection may include a traffic flow length in the entrance lane,
information about waiting duration at an entrance, location information of the first
vehicle in a traffic flow, and/or information about congestion and queuing in the
exit lane.
[0091] In a possible implementation, that the traffic flow control device determines the
entrance lane and the exit lane of the first vehicle at the target intersection based
on the travel information of the first vehicle, the travel intention of the first
vehicle, lane information of the target intersection, and traffic flow information
of the target intersection may be implemented in the following manner.
[0092] The traffic flow control device determines a plurality of entrance lanes based on
the travel intention of the first vehicle and the lane information of the target intersection,
and the traffic flow control device determines the entrance lane from the plurality
of entrance lanes based on the traffic flow information of the target intersection
and the lane in which the first vehicle is located. The traffic flow control device
determines a plurality of exit lanes based on the travel intention and the lane information
of the target intersection, and the traffic flow control device determines the exit
lane from the plurality of exit lanes based on the traffic flow information of the
target intersection and the entrance lane.
[0093] For example, the travel intention of the first vehicle is turning left, and a road
in which the first vehicle is currently located includes two left-turn lanes. When
a traffic flow in a first left-turn lane is longer than that in a second left-turn
lane, and waiting duration is longer, the traffic flow control device may determine
the second left-turn lane as the entrance lane of the first vehicle.
[0094] S230: The traffic flow control device sends the traffic command signaling to the
in-vehicle device.
[0095] Correspondingly, the in-vehicle device receives the traffic command signaling, so
that the first vehicle travels according to the traffic command signaling.
[0096] In the traffic flow control method in this embodiment of this application, the traffic
flow control device sends the traffic command signaling to the first vehicle based
on the travel information of the first vehicle, the travel intention of the first
vehicle, and the traffic phase control information of the target intersection, so
that the first vehicle is enabled to travel at the target intersection as instructed
by the traffic command signaling.
[0097] An example in which the first vehicle travels according to the traffic command signaling
may include: A control unit on the first vehicle controls traveling of the first vehicle
based on the traffic command signaling and sensed data of the first vehicle.
[0098] The sensed data of the first vehicle may include at least one of the following: information
data of a nearby vehicle, a pedestrian, or an obstacle that is sensed by the first
vehicle by using an in-vehicle sensor such as a camera, a laser radar, or a millimeter
wave radar, and information data of a nearby vehicle, a pedestrian, or an obstacle
that is received by the first vehicle through the in-vehicle device.
[0099] An example in which the control unit on the first vehicle controls traveling of the
first vehicle based on the traffic command signaling and the sensed data of the first
vehicle may include: When the traffic command signaling is go command signaling, but
a vehicle ahead of the first vehicle stops, the control unit may control the first
vehicle to stop.
[0100] In other words, for the first vehicle, the traffic command signaling may be control
signaling, that is, for directly controlling the first vehicle to travel according
to the traffic command signaling. Alternatively, the traffic command signaling may
be only signaling for reference. To be specific, the first vehicle may use the traffic
command signaling as a reference and control traveling of the first vehicle with reference
to information about the first vehicle and/or another vehicle and/or a road, instead
of traveling completely according to the traffic command signaling.
[0101] Alternatively, the in-vehicle device on the first vehicle may notify a driver of
the first vehicle of the traffic command signaling, so that the driver drives the
first vehicle according to the traffic command signaling.
[0102] For example, the in-vehicle device may provide a notification to a human-machine
interface (Human Machine Interface, HMI) system on the first vehicle, so that the
HMI system notifies the driver of the traffic command signaling through a voice, a
text, an icon, an image, or another manner.
[0103] In this embodiment of this application, optionally, the travel information of the
first vehicle may include a location of the first vehicle. In this case, before the
traffic flow control device determines traffic command signaling based on the traffic
control request signaling and traffic control phase information of the target intersection,
the traffic flow control method may further include: The traffic flow control device
determines a first time based on a preset vehicle speed at the target intersection,
the location of the first vehicle, and a lane in which the first vehicle is located,
where the first time is a time required for the first vehicle to travel off a stopline
of the lane in which the first vehicle is located from the location of the first vehicle
along the lane in which the first vehicle is located, and the lane in which the first
vehicle is located may be obtained by the traffic flow control device through calculation
based on the location of the first vehicle, or the lane in which the first vehicle
is located may be carried in the travel information.
[0104] Optionally, the travel information of the first vehicle may further include a speed
of the first vehicle in addition to a location of the first vehicle. In this case,
an implementation of determining the first time in the traffic flow control method
may include: The traffic flow control device determines a first time based on the
speed of the first vehicle, the location of the first vehicle, and a lane in which
the first vehicle is located, where the first time is a time required for the first
vehicle to travel off a stopline of the lane in which the first vehicle is located
from the location of the first vehicle along the lane in which the first vehicle is
located, and the lane in which the first vehicle is located is obtained by the traffic
flow control device through calculation based on the location of the first vehicle,
or the lane in which the first vehicle is located is carried in the travel information.
[0105] Optionally, the travel information of the first vehicle may further include an acceleration
of the first vehicle in addition to a location of the first vehicle and a speed of
the first vehicle. In this case, that the traffic flow control device determines the
first time based on the speed of the first vehicle, the location of the first vehicle,
and a lane in which the first vehicle is located may include: The traffic flow control
device determines the first time based on the speed of the first vehicle, the location
of the first vehicle, the lane in which the first vehicle is located, and the acceleration
of the first vehicle.
[0106] After the traffic flow control device determines the first time, S220, that is, the
traffic flow control device determines traffic command signaling based on the traffic
control request signaling and traffic control phase information of a target intersection,
may be implemented in the following possible manners.
[0107] In a first possible implementation, that the traffic flow control device determines
traffic command signaling based on the traffic control request signaling and traffic
control phase information of a target intersection may include: When a traffic control
phase corresponding to the traffic control phase information of the target intersection
is a green-go phase, and a remaining time of the green-go phase is longer than or
equal to the first time, the traffic flow control device determines that the traffic
command signaling is go command signaling.
[0108] If the first time is determined based on the location of the first vehicle and the
speed of the first vehicle, the go command signaling may include the traffic control
phase information of the target intersection and information about the exit lane.
[0109] If the first time is obtained based on the preset vehicle speed at the target intersection,
the go command signaling may include the traffic control phase information of the
target intersection, information about the exit lane, and the preset vehicle speed
at the target intersection.
[0110] The traffic control phase information included in the go command signaling may be
the green-go phase and the remaining time of the green-go phase.
[0111] In a second possible implementation, that the traffic flow control device determines
traffic command signaling based on the traffic control request signaling and traffic
control phase information of a target intersection may include: When a traffic control
phase corresponding to the traffic control phase information of the target intersection
is a green-go phase, and a remaining time of the green-go phase is shorter than the
first time, the traffic flow control device determines that the traffic command signaling
is stop command signaling.
[0112] For ease of description, the stop command signaling may be referred to as first stop
command signaling.
[0113] If the first time is determined based on the location of the first vehicle and the
speed of the first vehicle, the first stop command signaling may include current traffic
control phase information of the target intersection and location information of the
stopline of the lane in which the first vehicle is located.
[0114] If the first time is obtained based on the preset vehicle speed at the target intersection,
the first stop command signaling may include current traffic control phase information
of the target intersection, location information of the stopline of the lane in which
the first vehicle is located, and the preset vehicle speed at the target intersection.
[0115] The traffic control phase information included in the first stop command signaling
may be the green-go phase and the remaining time of the green-go phase.
[0116] If the traffic flow control device implements S220 based on the second possible implementation,
the traffic flow control method may further include: When the traffic control phase
corresponding to the traffic control phase information of the target intersection
switches again to the green-go phase, and the traffic flow control device learns through
monitoring that the first vehicle has traveled to the stopline of the lane in which
the first vehicle is located, the traffic flow control device sends go command signaling
to the in-vehicle device of the first vehicle.
[0117] If the first time is determined based on the location of the first vehicle and the
speed of the first vehicle, the go command signaling may include current traffic control
phase information of the target intersection and information about the exit lane used
by the first vehicle to travel off the target intersection.
[0118] If the first time is obtained based on the preset vehicle speed at the target intersection,
the go command signaling may include current traffic control phase information of
the target intersection, information about the exit lane used by the first vehicle
to travel off the target intersection, and the preset vehicle speed at the target
intersection.
[0119] The traffic control phase information included in the go command signaling may be
specifically the green-go phase to which the traffic control phase switches and a
remaining time of the green-go phase.
[0120] When the traffic flow control device implements S220 based on the second possible
implementation, the traffic flow control method may optionally include: When the traffic
control phase corresponding to the traffic control phase information of the target
intersection switches again to the green-go phase, and the traffic flow control device
learns through monitoring that a time required for the first vehicle to travel off
the stopline of the lane in which the first vehicle is located from a current location
of the first vehicle at a current speed and acceleration of the first vehicle along
the lane in which the first vehicle is located is shorter than or equal to a remaining
time of the green-go phase to which the traffic control phase switches, the traffic
flow control device sends go command signaling to the in-vehicle device of the first
vehicle.
[0121] If the first time is determined based on the location of the first vehicle and the
speed of the first vehicle, the go command signaling may include current traffic control
phase information of the target intersection and information about the exit lane used
by the first vehicle to travel off the target intersection.
[0122] If the first time is obtained based on the preset vehicle speed at the target intersection,
the go command signaling may include current traffic control phase information of
the target intersection, information about the exit lane used by the first vehicle
to travel off the target intersection, and the preset vehicle speed at the target
intersection.
[0123] The traffic control phase information included in the go command signaling may be
specifically the green-go phase to which the traffic control phase switches and a
remaining time of the green-go phase.
[0124] When the traffic flow control device implements S220 based on the second possible
implementation, the traffic flow control method may optionally include: When the traffic
control phase corresponding to the traffic control phase information of the target
intersection switches again to the green-go phase, and the traffic flow control device
learns through monitoring that a time required for the first vehicle to travel off
the stopline of the lane in which the first vehicle is located from a current location
of the first vehicle at a current speed and acceleration of the first vehicle along
the lane in which the first vehicle is located is longer than a remaining time of
the green-go phase to which the traffic control phase switches, the traffic flow control
device sends stop command signaling to the in-vehicle device of the first vehicle.
[0125] For ease of description, the stop command signaling may be referred to as second
stop command signaling.
[0126] If the first time is determined based on the location of the first vehicle and the
speed of the first vehicle, the stop command signaling may include current traffic
control phase information of the target intersection and location information of the
stopline of the lane in which the first vehicle is located.
[0127] If the first time is obtained based on the preset vehicle speed at the target intersection,
the second stop command signaling may include current traffic control phase information
of the target intersection, location information of the stopline of the lane in which
the first vehicle is located, and the preset vehicle speed at the target intersection.
[0128] The traffic control phase information included in the second stop command signaling
may be the green-go phase to which the traffic control phase switches and the remaining
time of the green-go phase.
[0129] In a third possible implementation, that the traffic flow control device determines
traffic command signaling based on the traffic control request signaling and traffic
control phase information of a target intersection may include: When a traffic control
phase corresponding to current traffic control phase information of the target intersection
is a red-stop phase, the traffic flow control device determines that the traffic command
signaling is stop command signaling.
[0130] For ease of description, the stop command signaling may be referred to as first stop
command signaling.
[0131] If the first time is determined based on the location of the first vehicle and the
speed of the first vehicle, the first stop command signaling may include the traffic
control phase information of the target intersection and location information of the
stopline of the lane in which the first vehicle is located.
[0132] If the first time is obtained based on the preset vehicle speed at the target intersection,
the first stop command signaling may include the traffic control phase information
of the target intersection, location information of the stopline of the lane in which
the first vehicle is located, and the preset vehicle speed at the target intersection.
[0133] The traffic control phase information included in the first stop command signaling
may be the red-stop phase and a remaining time of the red-stop phase.
[0134] If the traffic flow control device implements S220 in the third possible implementation,
the traffic flow control method may further include: When the traffic control phase
corresponding to the traffic control phase information of the target intersection
switches to a green-go phase, and the traffic flow control device learns through monitoring
that the first vehicle has traveled to the stopline, the traffic flow control device
sends go command signaling to the in-vehicle device of the first vehicle.
[0135] If the first time is determined based on the location of the first vehicle and the
speed of the first vehicle, the go command signaling may include the traffic control
phase information of the target intersection and information about the exit lane used
by the first vehicle to travel off the target intersection.
[0136] If the first time is obtained based on the preset vehicle speed at the target intersection,
the go command signaling may include the traffic control phase information of the
target intersection, information about the exit lane used by the first vehicle to
travel off the target intersection, and the preset vehicle speed at the target intersection.
[0137] The traffic control phase information included in the go command signaling may be
specifically the green-go phase to which the traffic control phase switches and a
remaining time of the green-go phase.
[0138] Alternatively, the traffic flow control method may further include: When the traffic
control phase corresponding to the traffic control phase information of the target
intersection switches to a green-go phase, and the traffic flow control device learns
through monitoring that a time required for the first vehicle to travel off the stopline
of the lane in which the first vehicle is located from a current location of the first
vehicle at a current speed and acceleration of the first vehicle along the lane in
which the first vehicle is located is shorter than or equal to a remaining time of
the green-go phase to which the traffic control phase switches, the traffic flow control
device sends go command signaling to the in-vehicle device of the first vehicle.
[0139] If the first time is determined based on the location of the first vehicle and the
speed of the first vehicle, the go command signaling may include current traffic control
phase information of the target intersection and information about the exit lane used
by the first vehicle to travel off the target intersection.
[0140] If the first time is obtained based on the preset vehicle speed at the target intersection,
the go command signaling may include current traffic control phase information of
the target intersection, information about the exit lane used by the first vehicle
to travel off the target intersection, and the preset vehicle speed at the target
intersection.
[0141] The traffic control phase information included in the go command signaling may be
specifically the green-go phase to which the traffic control phase switches and a
remaining time of the green-go phase.
[0142] Alternatively, the traffic flow control method may further include: When the traffic
control phase corresponding to the traffic control phase information of the target
intersection switches to a green-go phase, and the traffic flow control device learns
through monitoring that a time required for the first vehicle to travel off the stopline
of the lane in which the first vehicle is located from a current location of the first
vehicle at a current speed and acceleration of the first vehicle along the lane in
which the first vehicle is located is longer than a remaining time of the green-go
phase to which the traffic control phase switches, the traffic flow control device
sends stop command signaling to the in-vehicle device of the first vehicle.
[0143] For ease of description, the stop command signaling may be referred to as second
stop command signaling.
[0144] If the first time is determined based on the location of the first vehicle and the
speed of the first vehicle, the second stop command signaling may include the traffic
control phase information of the target intersection and location information of the
stopline of the lane in which the first vehicle is located.
[0145] If the first time is obtained based on the preset vehicle speed at the target intersection,
the second stop command signaling may include the traffic control phase information
of the target intersection, location information of the stopline of the lane in which
the first vehicle is located, and the preset vehicle speed at the target intersection.
[0146] The traffic control phase information included in the second stop command signaling
may be the green-go phase to which the traffic control phase switches and the remaining
time of the green-go phase.
[0147] In a fourth possible implementation, that the traffic flow control device determines
traffic command signaling based on the traffic control request signaling and traffic
control phase information of a target intersection may include: After the first time,
when a traffic control phase corresponding to the traffic control phase information
of the target intersection is a green-go phase, the traffic flow control device determines
that the traffic command signaling is go command signaling.
[0148] If the first time is determined based on the location of the first vehicle and the
speed of the first vehicle, the go command signaling may include traffic control phase
information of the target intersection obtained after the first time and information
about the exit lane used by the first vehicle to travel off the target intersection.
[0149] If the first time is obtained based on the preset vehicle speed at the target intersection,
the go command signaling may include the preset vehicle speed at the target intersection,
traffic control phase information of the target intersection obtained after the first
time, and information about the exit lane used by the first vehicle to travel off
the target intersection.
[0150] The traffic control phase information included in the go command signaling may be
specifically the green-go phase after the first time and a remaining time of the green-go
phase. It should be understood that the green-go phase after the first time should
be a green-go phase to which the traffic control phase switches for the first time
after the first time.
[0151] Alternatively, that the traffic flow control device determines traffic command signaling
based on the traffic control request signaling and traffic control phase information
of a target intersection may include: After the first time, when a traffic control
phase corresponding to the traffic control phase information of the target intersection
is a red-stop phase, the traffic flow control device determines that the traffic command
signaling is stop command signaling.
[0152] If the first time is determined based on the location of the first vehicle and the
speed of the first vehicle, the stop command signaling may include traffic control
phase information of the target intersection obtained after the first time and location
information of the stopline of the lane in which the first vehicle is located.
[0153] If the first time is obtained based on the preset vehicle speed at the target intersection,
the stop command signaling may include the preset vehicle speed at the target intersection,
traffic control phase information of the target intersection obtained after the first
time, and location information of the stopline of the lane in which the first vehicle
is located.
[0154] The traffic control phase information included in the stop command signaling may
be specifically the red-stop phase after the first time and a remaining time of the
red-stop phase. It should be understood that the red-stop phase after the first time
should be a red-stop phase to which the traffic control phase switches for the first
time after the first time.
[0155] In a fifth possible implementation, that the traffic flow control device determines
traffic command signaling based on the traffic control request signaling and traffic
control phase information of a target intersection may include: When a distance between
the first vehicle and a second vehicle that travels ahead of the first vehicle and
that is located in the lane in which the first vehicle is located is less than a preset
distance threshold, the traffic flow control device sends follow command signaling
to the in-vehicle device of the first vehicle, where the follow command signaling
includes identification information of the second vehicle, and the lane in which the
first vehicle is located is obtained by the traffic flow control device through calculation
based on a location of the first vehicle and the lane information of the target intersection,
or the lane in which the first vehicle is located is carried in the travel information.
[0156] Optionally, the follow command signaling may further include information about the
second vehicle such as a location, a speed, a physical size, a weight, a recommended
distance, and a travel intention of the second vehicle.
[0157] After the first vehicle follows the second vehicle in traveling according to the
follow command signaling, if a traffic control phase corresponding to the traffic
control phase information of the target intersection is a green-go phase, a time required
for the second vehicle to travel off a stopline of the lane in which the first vehicle
is located from a current location of the second vehicle is shorter than or equal
to a remaining time of the green-go phase, and a time required for the first vehicle
to travel off the stopline of the lane in which the first vehicle is located from
a current location of the first vehicle is shorter than or equal to the remaining
time of the green-go phase, the first vehicle follows the second vehicle and travels
off the stopline of the lane in which the first vehicle is located.
[0158] After the first vehicle follows the second vehicle in traveling according to the
follow command signaling, if a traffic control phase corresponding to the traffic
control phase information of the target intersection is a red-stop phase, the first
vehicle follows the second vehicle and stops before the stopline of the lane in which
the first vehicle is located.
[0159] After the first vehicle follows the second vehicle in traveling according to the
follow command signaling, if a traffic control phase corresponding to the traffic
control phase information of the target intersection is a green-go phase, a time required
for the second vehicle to travel off a stopline of the lane in which the first vehicle
is located from a current location of the second vehicle is shorter than or equal
to a remaining time of the green-go phase, and a time required for the first vehicle
to travel off the stopline of the lane in which the first vehicle is located from
a current location of the first vehicle is longer than the remaining time of the green-go
phase, the traffic flow control device sends stop command signaling to the in-vehicle
device of the first vehicle.
[0160] The stop command signaling may include the traffic control phase information of the
target intersection and location information of the stopline of the lane in which
the first vehicle is located. Alternatively, the stop command signaling may include
the traffic control phase information of the target intersection, location information
of the stopline of the lane in which the first vehicle is located, and the preset
vehicle speed at the target intersection.
[0161] The traffic control phase information included in the stop command signaling may
be specifically the green-go phase and the remaining time of the green-go phase.
[0162] When the traffic control phase corresponding to the traffic control phase information
of the target intersection switches again to the green-go phase, and the traffic flow
control device learns through monitoring that the first vehicle has traveled to the
stopline of the lane in which the first vehicle is located, the traffic flow control
device may send go command signaling to the in-vehicle device of the first vehicle.
[0163] The go command signaling may include the traffic control phase information of the
target intersection and information about the exit lane used by the first vehicle
to travel off the target intersection, or may include the traffic control phase information
of the target intersection, information about the exit lane used by the first vehicle
to travel off the target intersection, and the preset vehicle speed at the target
intersection.
[0164] The traffic control phase information included in the go command signaling may be
specifically the green-go phase and the remaining time of the green-go phase.
[0165] In the foregoing implementations, optionally, the lane in which the first vehicle
is located may be the entrance lane used by the first vehicle to enter the target
intersection.
[0166] When the lane in which the first vehicle is located is not the entrance lane used
by the first vehicle to enter the target intersection, a possible implementation in
which the traffic flow control device determines traffic command signaling based on
the traffic control request signaling and traffic control phase information of a target
intersection may include: The traffic flow control device sends lane change command
signaling to the in-vehicle device of the first vehicle, where the lane change command
signaling includes information about the entrance lane that is allocated by the traffic
flow control device to the first vehicle for entering the target intersection, and
the lane in which the first vehicle is located may be obtained by the traffic flow
control device through calculation based on a location of the first vehicle and the
lane information of the target intersection, or the lane in which the first vehicle
is located is carried in the travel information.
[0167] When the traffic flow control device sends the lane change command signaling to the
first vehicle, if the traffic flow control device learns through monitoring that the
first vehicle does not change lane, the traffic flow control device may send stop
command signaling or deceleration command signaling to a third vehicle that is in
the entrance lane and that is at the rear of the first vehicle, so that the first
vehicle changes lane, where the stop command signaling includes information about
a location at which the third vehicle is to stop, and the deceleration command signaling
includes speed information of the third vehicle after deceleration.
[0168] A distance between the third vehicle and the first vehicle may be less than or equal
to a preset distance threshold.
[0169] After the first vehicle changes from a lane to the entrance lane, the traffic flow
control device may determine traffic command signaling according to one or more of
the first to the fourth possible implementations that are described above, and send
the traffic command signaling to the in-vehicle device of the first vehicle. In this
case, the lane in which the first vehicle is located that is mentioned in the first
to the fourth possible implementations is the entrance lane.
[0170] It should be understood that in the foregoing possible implementations, the traffic
flow control device may first determine a length relationship between the first time
and the remaining time of the traffic control phase corresponding to the traffic control
phase information, and then determine traffic command signaling based on a type of
the traffic control phase corresponding to the traffic control phase information.
Alternatively, the traffic flow control device may first determine a type of the traffic
control phase corresponding to the traffic control phase information, and then determine
traffic command signaling based on a length relationship between the first time and
the remaining time of the traffic control phase corresponding to the traffic control
phase information.
[0171] For example, the traffic flow control device may first compare the first time with
the remaining time of the traffic control phase. When the traffic flow control device
determines that the remaining time of the traffic control phase is longer than the
first time, the traffic flow control device determines, based on that the traffic
control phase is a green-go phase, that the traffic command signaling is go command
signaling, or determines, based on that the traffic control phase is a red-stop phase,
that the traffic command signaling is stop command signaling.
[0172] For example, the traffic flow control device may first determine a type of the traffic
control phase, and when the traffic control phase is the green-go phase, determine,
based on that the remaining time of the green-go phase is longer than the first time,
that the traffic command signaling is go command signaling.
[0173] Optionally, various traffic command signaling in this embodiment of this application
may further include a highest vehicle speed at the target intersection, so that the
first vehicle travels safely at a speed that is lower than or equal to the highest
vehicle speed.
[0174] The following further describes interaction procedures in traffic flow control methods
in this application with reference to FIG. 3 to FIG. 6A and FIG. 6B. It should be
understood that FIG. 3 to FIG. 6A and FIG. 6B show steps or operations of the traffic
flow control method, but these steps or operations are only an example. In this embodiment
of this application, other operations or variations of the operations in FIG. 3 to
FIG. 6A and FIG. 6B may also be performed. In addition, the steps in FIG. 3 to FIG.
6A and FIG. 6B may be performed in a sequence different from that presented in FIG.
3 to FIG. 6A and FIG. 6B, and possibly not all operations in FIG. 3 to FIG. 6A and
FIG. 6B need to be performed.
[0175] A traffic flow control method shown in FIG. 3 may include S302 to S326.
[0176] S302: An in-vehicle device on a first vehicle determines that the vehicle has entered
a service area of a traffic flow control device.
[0177] S304: The in-vehicle device of the first vehicle sends traffic control request signaling
to the traffic flow control device. Optionally, the traffic control request signaling
may include travel information of the first vehicle and a travel intention of the
first vehicle.
[0178] Correspondingly, the traffic flow control device receives the traffic control request
signaling sent by the in-vehicle device of the first vehicle.
[0179] S306: The traffic flow control device determines to serve the first vehicle.
[0180] S308: The traffic flow control device sends control response signaling to the in-vehicle
device of the first vehicle, to notify the in-vehicle device that "the traffic flow
control device is to serve the first vehicle".
[0181] Correspondingly, the in-vehicle device of the first vehicle receives the control
response signaling.
[0182] S310: The traffic flow control device determines go command signaling for the first
vehicle based on the travel information of the first vehicle, the travel intention
of the first vehicle, and traffic control phase information of a target intersection.
[0183] For this step, refer to a related operation in the traffic flow control method shown
in FIG. 2. Details are not described herein again.
[0184] S312: The traffic flow control device sends the go command signaling to the in-vehicle
device of the first vehicle, to instruct the first vehicle to go. Correspondingly,
the in-vehicle device of the first vehicle receives the go command signaling.
[0185] A control unit on the first vehicle controls, based on the go command signaling received
by the in-vehicle device and sensed data of the first vehicle, the first vehicle to
go. Alternatively, a prompt unit on the first vehicle instructs a driver to drive
the first vehicle to travel off an entrance lane and travel into an exit lane, that
is, to pass through an intersection.
[0186] For example, the first vehicle may adjust a vehicle speed to pass through the intersection
under control of the control unit or the driver.
[0187] S316: The in-vehicle device of the first vehicle sends go response signaling to the
traffic flow control device. Correspondingly, the traffic flow control device receives
the go response signaling.
[0188] S318: The traffic flow control device determines that the first vehicle has passed
through the intersection.
[0189] For example, the traffic flow control device may determine, by monitoring location
information of the first vehicle, that the first vehicle has passed through the intersection.
[0190] S320: The traffic flow control device sends traffic control end signaling to the
in-vehicle device. Correspondingly, the in-vehicle device receives the traffic control
end signaling.
[0191] S322: The in-vehicle device deletes, according to the traffic control end signaling,
content related to the case in which the first vehicle passes through the intersection.
[0192] S324: The in-vehicle device sends traffic control end response signaling to the traffic
flow control device. Correspondingly, the traffic flow control device receives the
traffic control end response signaling.
[0193] S326: The traffic flow control device deletes content related to the case in which
the first vehicle passes through the intersection, to end the current traffic command.
[0194] A traffic flow control method shown in FIG. 4A and FIG. 4B may include S402 to S434.
[0195] For S402 to S408, refer to S302 to S308. Details are not described herein again.
[0196] S410: The traffic flow control device determines stop command signaling for the first
vehicle based on the travel information of the first vehicle, traffic control phase
information of a target intersection, and the travel intention of the first vehicle,
to instruct the first vehicle to stop.
[0197] For this step, refer to a related operation in the traffic flow control method shown
in FIG. 2. Details are not described herein again.
[0198] S412: The traffic flow control device sends the stop command signaling to the in-vehicle
device of the first vehicle, to instruct the first vehicle to stop before a stopline.
Correspondingly, the in-vehicle device of the first vehicle receives the stop command
signaling.
[0199] A control unit on the first vehicle controls, based on the stop command signaling
received by the in-vehicle device and sensed data of the first vehicle, the first
vehicle to stop. Alternatively, a prompt unit on the first vehicle instructs a driver
to stop the first vehicle.
[0200] For example, under control of the control unit or the driver, the first vehicle may
adjust a vehicle speed and stop before arriving at a stopline of an entrance lane.
[0201] S416: The in-vehicle device of the first vehicle sends stop response signaling to
the traffic flow control device. Correspondingly, the traffic flow control device
receives the stop response signaling.
[0202] S418: When a traffic control phase at the target intersection switches to or switches
again to a green-go phase, the traffic flow control device determines, for the first
vehicle, go command signaling used for instructing the first vehicle to go.
[0203] For S420 to S434, refer to S312 to S326. Details are not described herein again.
[0204] A traffic flow control method shown in FIG. 5A and FIG. 5B may include S502 to S542.
[0205] For S502 to S508, refer to S302 to S308. Details are not described herein again.
[0206] S510: The traffic flow control device determines follow command signaling for the
first vehicle.
[0207] For this step, refer to a related operation in the traffic flow control method shown
in FIG. 2. Details are not described herein again.
[0208] S512: The traffic flow control device sends the follow command signaling to the in-vehicle
device of the first vehicle. Correspondingly, the in-vehicle device of the first vehicle
receives the follow command signaling used for instructing the first vehicle to follow
a vehicle.
[0209] A control unit on the first vehicle controls, based on the follow command signaling
received by the in-vehicle device and sensed data of the first vehicle, the first
vehicle to follow a vehicle. Alternatively, a prompt unit on the first vehicle instructs
a driver to drive the first vehicle to follow a second vehicle in traveling.
[0210] S516: The in-vehicle device of the first vehicle sends follow response signaling
to the traffic flow control device.
[0211] S518: In a process in which the first vehicle follows a second vehicle in traveling,
when a traffic control phase at a target intersection is a green-go phase, and a remaining
time of the green-go phase is sufficient for the second vehicle to travel off a stopline
of a lane in which the first vehicle is located, but is not sufficient for the first
vehicle to travel off the stopline of the lane in which the first vehicle is located,
the traffic flow control device determines stop command signaling for the first vehicle.
[0212] For this step, refer to a related operation in the traffic flow control method shown
in FIG. 2. Details are not described herein again.
[0213] S520: The traffic flow control device sends the stop command signaling to the in-vehicle
device of the first vehicle. Correspondingly, the in-vehicle device of the first vehicle
receives the stop command signaling.
[0214] A control unit on the first vehicle controls, based on the stop command signaling
received by the in-vehicle device and sensed data of the first vehicle, the first
vehicle to stop. Alternatively, a prompt unit on the first vehicle instructs a driver
to stop the first vehicle.
[0215] S524: The in-vehicle device of the first vehicle sends stop response signaling to
the traffic flow control device. Correspondingly, the traffic flow control device
receives the stop response signaling.
[0216] S526: When the traffic control phase at the target intersection switches again to
the green-go phase, the traffic flow control device determines go command signaling
for the first vehicle.
[0217] For this step, refer to a related operation in the traffic flow control method shown
in FIG. 2. Details are not described herein again.
[0218] For S528 to S542, refer to S312 to S326. Details are not described herein again.
[0219] Optionally, in another possible implementation, S518 to S532 may be alternatively
that the first vehicle follows the second vehicle in traveling until the first vehicle
travels off the intersection.
[0220] A traffic flow control method shown in FIG. 6A and FIG. 6B may include S602 to S634.
[0221] For S602 to S608, refer to S302 to S308. Details are not described herein again.
[0222] S610: The traffic flow control device determines lane change command signaling for
the first vehicle based on the travel information of the first vehicle, traffic control
phase information of a target intersection, and the travel intention of the first
vehicle, to instruct the first vehicle to change lane.
[0223] For this step, refer to a related operation in the traffic flow control method shown
in FIG. 2. Details are not described herein again.
[0224] S612: The traffic flow control device sends the lane change command signaling to
the in-vehicle device of the first vehicle, to instruct the first vehicle to change
lane. Correspondingly, the in-vehicle device of the first vehicle receives the lane
change command signaling.
[0225] A control unit on the first vehicle controls, based on the lane change command signaling
received by the in-vehicle device and sensed data of the first vehicle, the first
vehicle to change lane. Alternatively, a prompt unit on the first vehicle instructs
a driver to change lane.
[0226] For this step, refer to a related operation in the traffic flow control method shown
in FIG. 2. Details are not described herein again.
[0227] S616: The in-vehicle device of the first vehicle sends lane change response signaling
to the traffic flow control device. Correspondingly, the traffic flow control device
receives the lane change response signaling.
[0228] For S618 to S634, refer to S310 to S326. Details are not described herein again.
[0229] After the first vehicle completes the lane change and before S618, the traffic flow
control device may send stop command signaling, go command signaling, or follow command
signaling to the first vehicle, where the stop command signaling includes traffic
control phase information of an intersection ahead of the first vehicle and location
information of a stopline of an entrance lane, the go command signaling includes the
traffic control phase information of the intersection ahead of the first vehicle and
information about an exit lane, and the follow command signaling includes identification
information of a vehicle ahead of the first vehicle.
[0230] Correspondingly, the first vehicle stops, goes, or follows a vehicle according to
the traffic command received by the in-vehicle device. For a specific implementation,
refer to the foregoing method. Details are not described herein again.
[0231] In the foregoing embodiments, cases in which the traffic flow control device is applied
at an intersection are described. Another traffic flow control device provided in
this application may be applied in a non-intersection case. In this case, in the traffic
flow control method in the embodiments of this application, the traffic flow control
device receives traffic control request signaling sent by a first vehicle, where the
traffic control request signaling includes current travel information of the first
vehicle and a travel intention of the first vehicle; the traffic flow control device
determines follow command signaling based on the traffic control request signaling,
where the follow command signaling includes identification information of a second
vehicle that travels ahead of the first vehicle; and the traffic flow control device
sends the follow command signaling to the first vehicle.
[0232] Correspondingly, an in-vehicle device sends traffic control request signaling to
a traffic flow control device, where the traffic control request signaling includes
travel information of a first vehicle to which the in-vehicle device belongs and a
travel intention of the first vehicle; the in-vehicle device receives follow command
signaling sent by the traffic flow control device, so that the first vehicle travels
according to traffic command signaling. The follow command signaling includes identification
information of a second vehicle that travels ahead of the first vehicle, and the follow
command signaling is determined by the traffic flow control device based on the traffic
control request signaling.
[0233] It should be understood that the travel intention of the first vehicle described
herein may be a destination of the first vehicle, or may be a road segment through
which the first vehicle is likely to pass during traveling to the destination.
[0234] In a possible implementation of this embodiment, the travel information of the first
vehicle may include a location of the first vehicle and a lane in which the first
vehicle is located.
[0235] That the traffic flow control device determines follow command signaling based on
the traffic control request signaling may include: The traffic flow control device
determines the follow command signaling when the traffic flow control device determines,
based on the travel information of the first vehicle, that the first vehicle and the
second vehicle are in the same lane, and a distance between the second vehicle and
the first vehicle is less than a preset distance threshold, and the traffic flow control
device determines that the travel intention of the first vehicle is the same as a
travel intention of the second vehicle.
[0236] According to the traffic flow control method, the traffic flow control device does
not need to control traveling of the first vehicle in real time, thereby saving resources.
[0237] It should be understood that the travel intention of the second vehicle described
herein may be a destination of the second vehicle, or may be a road segment through
which the second vehicle is likely to pass during traveling to the destination.
[0238] In this embodiment, optionally, the follow command signaling may further include
information about the second vehicle such as a location, a speed, a physical size,
a weight, a recommended distance, and the travel intention of the second vehicle.
[0239] A schematic structural diagram of a traffic flow control device according to an embodiment
of this application is shown in FIG. 7. It should be understood that the traffic flow
control device 700 shown in FIG. 7 is only an example. The traffic flow control device
in this embodiment of this application may further include another module or unit,
or include modules with functions similar to those of modules in FIG. 7, or not necessarily
include all modules in FIG. 7.
[0240] The traffic flow control device 700 shown in FIG. 7 may include a receiving module
710, a processing module 720, and a sending module 730.
[0241] The receiving module 710 is configured to receive traffic control request signaling
sent by an in-vehicle device of a first vehicle, where the traffic control request
signaling includes travel information of the first vehicle and a travel intention
of the first vehicle.
[0242] The processing module 720 is configured to determine traffic command signaling based
on the traffic control request signaling and traffic control phase information of
a target intersection, where the target intersection is an intersection through which
the first vehicle is to pass.
[0243] The sending module 730 sends the traffic command signaling to the in-vehicle device
of the first vehicle.
[0244] Optionally, the processing module 720 is further configured to: determine an entrance
lane and an exit lane of the first vehicle at the target intersection based on the
travel information, the travel intention, and lane information of the target intersection,
where the entrance lane is a lane that is allocated by the traffic flow control device
to the first vehicle for entering the target intersection, and the exit lane is a
lane that is allocated by the traffic flow control device to the first vehicle for
exiting from the target intersection; or determine an entrance lane and an exit lane
of the first vehicle at the target intersection based on the travel information, the
travel intention, lane information of the target intersection, and traffic flow information
of the target intersection.
[0245] Optionally, the travel information includes a location of the first vehicle and a
speed of the first vehicle.
[0246] Correspondingly, the processing module is specifically configured to:
determine a first time based on the speed of the first vehicle, the location of the
first vehicle, and a lane in which the first vehicle is located, where the first time
is a time required for the first vehicle to travel off a stopline of the lane in which
the first vehicle is located from the location of the first vehicle along the lane
in which the first vehicle is located, and the lane in which the first vehicle is
located is obtained by the traffic flow control device through calculation based on
the location of the first vehicle and the lane information of the target intersection,
or the lane in which the first vehicle is located is carried in the travel information.
[0247] Optionally, the travel information further includes an acceleration of the first
vehicle.
[0248] The processing module is specifically configured to determine the first time based
on the speed of the first vehicle, the location of the first vehicle, the lane in
which the first vehicle is located, and the acceleration of the first vehicle.
[0249] Optionally, the travel information includes a location of the first vehicle.
[0250] The processing module is specifically configured to:
determine a first time based on a preset vehicle speed at the target intersection,
the location of the first vehicle, and a lane in which the first vehicle is located,
where the first time is a time required for the first vehicle to travel off a stopline
of the lane in which the first vehicle is located from the location of the first vehicle
along the lane in which the first vehicle is located, and the lane in which the first
vehicle is located is obtained by the traffic flow control device through calculation
based on the location of the first vehicle and the lane information of the target
intersection, or the lane in which the first vehicle is located is carried in the
travel information.
[0251] Optionally, the processing module is specifically configured to:
when a traffic control phase corresponding to the traffic control phase information
of the target intersection is a green-go phase, and a remaining time of the green-go
phase is longer than or equal to the first time, determine that the traffic command
signaling is go command signaling, where the go command signaling includes the traffic
control phase information of the target intersection and information about the exit
lane.
[0252] Optionally, the processing module is specifically configured to:
when a traffic control phase corresponding to the traffic control phase information
of the target intersection is a green-go phase, and a remaining time of the green-go
phase is shorter than the first time, determine that the traffic command signaling
is first stop command signaling, where the first stop command signaling includes the
traffic control phase information of the target intersection and location information
of the stopline of the lane in which the first vehicle is located.
[0253] Optionally, the sending module is further configured to:
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches again to the green-go phase, and the traffic flow
control device learns through monitoring that the first vehicle has traveled to the
stopline, send go command signaling to the in-vehicle device, where the go command
signaling includes the traffic control phase information of the target intersection
and information about the exit lane; or
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches again to the green-go phase, and the traffic flow
control device learns through monitoring that a time required for the first vehicle
to travel off the stopline of the lane in which the first vehicle is located from
a current location of the first vehicle at a current speed and acceleration of the
first vehicle along the lane in which the first vehicle is located is shorter than
or equal to a remaining time of the green-go phase to which the traffic control phase
switches again, send go command signaling to the in-vehicle device, where the go command
signaling includes the traffic control phase information of the target intersection
and information about the exit lane; or
[0254] when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches again to the green-go phase, and the traffic flow
control device learns through monitoring that a time required for the first vehicle
to travel off the stopline of the lane in which the first vehicle is located from
a current location of the first vehicle at a current speed and acceleration of the
first vehicle along the lane in which the first vehicle is located is longer than
a remaining time of the green-go phase to which the traffic control phase switches
again, send second stop command signaling to the in-vehicle device, where the second
stop command signaling includes the traffic control phase information of the target
intersection and the location information of the stopline of the lane in which the
first vehicle is located.
[0255] Optionally, the processing module is specifically configured to:
when a traffic control phase corresponding to current traffic control phase information
of the target intersection is a red-stop phase, determine that the traffic command
signaling is first stop command signaling, where the first stop command signaling
includes the traffic control phase information of the target intersection and location
information of the stopline of the lane in which the first vehicle is located.
[0256] Optionally, the sending module is further configured to:
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches to a green-go phase, and the traffic flow control
device learns through monitoring that the first vehicle has traveled to the stopline,
send go command signaling to the in-vehicle device, where the go command signaling
includes the traffic control phase information of the target intersection and information
about the exit lane; or
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches to a green-go phase, and the traffic flow control
device learns through monitoring that a time required for the first vehicle to travel
off the stopline of the lane in which the first vehicle is located from a current
location of the first vehicle at a current speed and acceleration of the first vehicle
along the lane in which the first vehicle is located is shorter than or equal to a
remaining time of the green-go phase, send go command signaling to the in-vehicle
device, where the go command signaling includes the traffic control phase information
of the target intersection and information about the exit lane; or
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches to a green-go phase, and the traffic flow control
device learns through monitoring that a time required for the first vehicle to travel
off the stopline of the lane in which the first vehicle is located from a current
location of the first vehicle at a current speed and acceleration of the first vehicle
along the lane in which the first vehicle is located is longer than a remaining time
of the green-go phase, send second stop command signaling to the in-vehicle device,
where the second stop command signaling includes the traffic control phase information
of the target intersection and location information of the stopline of the lane in
which the first vehicle is located.
[0257] Optionally, the processing module is specifically configured to:
when a traffic control phase corresponding to the traffic control phase information
of the target intersection is a green-go phase, and a remaining time of the green-go
phase is longer than or equal to the first time, determine that the traffic command
signaling is go command signaling, where the go command signaling includes the traffic
control phase information of the target intersection, information about the exit lane,
and the preset vehicle speed at the target intersection.
[0258] Optionally, the processing module is specifically configured to:
when a traffic control phase corresponding to the traffic control phase information
of the target intersection is a green-go phase, and a remaining time of the green-go
phase is shorter than the first time, determine that the traffic command signaling
is first stop command signaling, where the first stop command signaling includes the
traffic control phase information of the target intersection, location information
of the stopline of the lane in which the first vehicle is located, and the preset
vehicle speed at the target intersection.
[0259] Optionally, the sending module is further configured to:
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches again to the green-go phase, and the traffic flow
control device learns through monitoring that the first vehicle has traveled to the
stopline, send go command signaling to the in-vehicle device, where the go command
signaling includes the traffic control phase information of the target intersection,
information about the exit lane, and the preset vehicle speed at the target intersection;
or
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches again to the green-go phase, and the traffic flow
control device learns through monitoring that a time required for the first vehicle
to travel off a stopline of the lane in which the first vehicle is located from a
current location of the first vehicle at the preset vehicle speed at the target intersection
along the lane in which the first vehicle is located is shorter than or equal to a
remaining time of the green-go phase to which the traffic control phase switches again,
send go command signaling to the in-vehicle device, where the go command signaling
includes the traffic control phase information of the target intersection, information
about the exit lane, and the preset vehicle speed at the target intersection; or
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches again to the green-go phase, and the traffic flow
control device learns through monitoring that a time required for the first vehicle
to travel off the stopline of the lane in which the first vehicle is located from
a current location of the first vehicle at the preset vehicle speed at the target
intersection along the lane in which the first vehicle is located is longer than a
remaining time of the green-go phase to which the traffic control phase switches again,
send second stop command signaling to the in-vehicle device, where the second stop
command signaling includes the traffic control phase information of the target intersection,
the location information of the stopline of the lane in which the first vehicle is
located, and the preset vehicle speed at the target intersection.
[0260] Optionally, the processing module is specifically configured to:
when a traffic control phase corresponding to the traffic control phase information
of the target intersection is a red-stop phase, determine that the traffic command
signaling is first stop command signaling, where the first stop command signaling
includes the traffic control phase information of the target intersection, location
information of the stopline of the lane in which the first vehicle is located, and
the preset vehicle speed at the target intersection.
[0261] Optionally, the sending module is further configured to:
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches to a green-go phase, and the traffic flow control
device learns through monitoring that the first vehicle has traveled to the stopline,
send go command signaling to the in-vehicle device, where the go command signaling
includes the traffic control phase information of the target intersection, information
about the exit lane, and the preset vehicle speed at the target intersection; or
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches to a green-go phase, and the traffic flow control
device learns through monitoring that a time required for the first vehicle to travel
off the stopline of the lane in which the first vehicle is located from a current
location of the first vehicle at the preset vehicle speed at the target intersection
along the lane in which the first vehicle is located is shorter than or equal to a
time of the green-go phase, send go command signaling to the in-vehicle device, where
the go command signaling includes the traffic control phase information of the target
intersection, information about the exit lane, and the preset vehicle speed at the
target intersection; or
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches to a green-go phase, and the traffic flow control
device learns through monitoring that a time required for the first vehicle to travel
off the stopline of the lane in which the first vehicle is located from a current
location of the first vehicle at the preset vehicle speed at the target intersection
along the lane in which the first vehicle is located is longer than a time of the
green-go phase, send second stop command signaling to the in-vehicle device, where
the second stop command signaling includes the traffic control phase information of
the target intersection, the location information of the stopline of the lane in which
the first vehicle is located, and the preset vehicle speed at the target intersection.
[0262] Optionally, the processing module is specifically configured to:
after the first time, when a traffic control phase corresponding to the traffic control
phase information of the target intersection is a green-go phase, determine that the
traffic command signaling is go command signaling, where the go command signaling
includes traffic control phase information of the target intersection obtained after
the first time and information about the exit lane; or
after the first time, when a traffic control phase corresponding to the traffic control
phase information of the target intersection is a red-stop phase, determine that the
traffic command signaling is stop command signaling, where the stop command signaling
includes traffic control phase information of the target intersection obtained after
the first time and location information of the stopline of the lane in which the first
vehicle is located.
[0263] Optionally, the processing module is specifically configured to:
after the first time, when a traffic control phase corresponding to the traffic control
phase information of the target intersection is a green-go phase, determine that the
traffic command signaling is go command signaling, where the go command signaling
includes traffic control phase information of the target intersection obtained after
the first time, the preset vehicle speed at the target intersection, and information
about the exit lane; or
after the first time, when a traffic control phase corresponding to the traffic control
phase information of the target intersection is a red-stop phase, determine that the
traffic command signaling is stop command signaling, where the stop command signaling
includes traffic control phase information of the target intersection obtained after
the first time, the preset vehicle speed at the target intersection, and location
information of the stopline of the lane in which the first vehicle is located.
[0264] Optionally, the processing module is specifically configured to:
when a distance between the first vehicle and a second vehicle that travels ahead
of the first vehicle and that is located in the lane in which the first vehicle is
located is less than a preset distance threshold, send follow command signaling to
the in-vehicle device, where the follow command signaling includes identification
information of the second vehicle, and the lane in which the first vehicle is located
is obtained by the traffic flow control device through calculation based on a location
of the first vehicle and the lane information of the target intersection, or the lane
in which the first vehicle is located is carried in the travel information.
[0265] Optionally, the sending module is further configured to:
when a traffic control phase corresponding to the traffic control phase information
of the target intersection is a green-go phase, a time required for the second vehicle
to travel off a stopline of the lane in which the first vehicle is located from a
current location of the second vehicle is shorter than or equal to a remaining time
of the green-go phase, and a time required for the first vehicle to travel off the
stopline of the lane in which the first vehicle is located from a current location
of the first vehicle is longer than the remaining time of the green-go phase, send
stop command signaling to the in-vehicle device, where the stop command signaling
includes the traffic control phase information of the target intersection and location
information of the stopline of the lane in which the first vehicle is located.
[0266] Optionally, the sending module is further configured to:
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches again to the green-go phase, and the traffic flow
control device learns through monitoring that the first vehicle has traveled to the
stopline of the lane in which the first vehicle is located, send go command signaling
to the in-vehicle device, where the go command signaling includes the traffic control
phase information of the target intersection and information about the exit lane.
[0267] Optionally, the processing module is specifically configured to: when a lane in which
the first vehicle is located is not the entrance lane, send lane change command signaling
to the in-vehicle device, where the lane change command signaling includes information
about the entrance lane, and the lane in which the first vehicle is located is obtained
by the traffic flow control device through calculation based on a location of the
first vehicle and the lane information of the target intersection, or the lane in
which the first vehicle is located is carried in the travel information.
[0268] Optionally, the sending module is further configured to send stop command signaling
or deceleration command signaling to a third vehicle that is in the entrance lane
and that is at the rear of the first vehicle, where the stop command signaling includes
information about a location at which the third vehicle is to stop, and the deceleration
command signaling includes speed information of the third vehicle after deceleration.
[0269] Optionally, the processing module is specifically configured to: determine a plurality
of entrance lanes based on the travel intention and the lane information of the target
intersection;
determine the entrance lane from the plurality of entrance lanes based on the traffic
flow information of the target intersection and the lane in which the first vehicle
is located, where the lane in which the first vehicle is located is obtained by the
traffic flow control device through calculation based on the location of the first
vehicle and the lane information of the target intersection, or the lane in which
the first vehicle is located is carried in the travel information;
determine a plurality of exit lanes based on the travel intention and the lane information
of the target intersection; and
determine the exit lane from the plurality of exit lanes based on the traffic flow
information of the target intersection and the entrance lane.
[0270] Optionally, the traffic control phase information of the target intersection is traffic
control phase information that is obtained by the traffic flow control device from
a traffic signal light of the target intersection, or is traffic control phase information
that is generated by the traffic flow control device.
[0271] Optionally, the traffic flow control device 700 may further include a vehicle motion
status monitoring module, configured to monitor a vehicle motion status.
[0272] Optionally, the traffic flow control device may further include a traffic control
phase processing module, configured to obtain a traffic control phase.
[0273] It should be understood that the traffic flow control device 700 may be configured
to perform steps performed by the traffic flow control device in the traffic flow
control method shown in FIG. 2. For brevity, details are not described herein again.
[0274] A schematic structural diagram of an in-vehicle device according to an embodiment
of this application is shown in FIG. 8. It should be understood that the in-vehicle
device 800 shown in FIG. 8 is only an example. The in-vehicle device in this embodiment
of this application may further include another module or unit, or include modules
with functions similar to those of modules in FIG. 8, or not necessarily include all
modules in FIG. 8.
[0275] The in-vehicle device 800 may include a sending module 810 and a receiving module
820. Optionally, the in-vehicle device 800 may further include a control module or
a prompt module.
[0276] The sending module 810 is configured to send traffic control request signaling to
a traffic flow control device, where the traffic control request signaling includes
travel information and a travel intention of a first vehicle to which the in-vehicle
device belongs.
[0277] The receiving module 820 is configured to receive traffic command signaling sent
by the traffic flow control device, so that the first vehicle travels according to
the traffic command signaling, where the traffic command signaling is determined by
the traffic flow control device based on the traffic control request signaling and
traffic control phase information of a target intersection, and the target intersection
is an intersection through which the first vehicle is to pass.
[0278] The control module may be configured to control traveling of the first vehicle according
to the traffic command signaling received by the in-vehicle device.
[0279] The prompt module may be configured to prompt a driver with the traffic command signaling
received by the in-vehicle device, so that the driver drives the first vehicle according
to the traffic command signaling.
[0280] Optionally, the traffic command signaling includes at least one of go command signaling,
stop command signaling, follow command signaling, and lane change command signaling,
where the go command signaling includes the traffic control phase information of the
target intersection and information about an exit lane of the first vehicle at the
target intersection, or the go command signaling includes the traffic control phase
information of the target intersection, a preset vehicle speed at the target intersection,
and information about an exit lane of the first vehicle at the target intersection;
the stop command signaling includes traffic control phase information of the target
intersection and location information of a stopline of a lane in which the first vehicle
is located, or the stop command signaling includes traffic control phase information
of the target intersection, location information of a stopline of a lane in which
the first vehicle is located, and a preset vehicle speed at the target intersection;
the follow command signaling includes identification information of a second vehicle,
where the second vehicle is a vehicle that travels ahead of the first vehicle and
that is located in the lane in which the first vehicle is located, and a distance
between the second vehicle and the first vehicle is less than a preset distance threshold;
and the lane change command signaling includes information about an entrance lane
of the first vehicle at the target intersection.
[0281] Optionally, the in-vehicle device 800 may further include a vehicle sensing module,
configured to sense a motion status of a vehicle, nearby environment, or the like,
to obtain sensed data.
[0282] It should be understood that the in-vehicle device 800 may be configured to perform
steps performed by the in-vehicle device in the traffic flow control method shown
in FIG. 2. For brevity, details are not described herein again.
[0283] A schematic structural diagram of a traffic flow control device according to an embodiment
of this application is shown in FIG. 9. It should be understood that the traffic flow
control device 900 shown in FIG. 9 is only an example. The traffic flow control device
in this embodiment of this application may further include another module or unit,
or include modules with functions similar to those of modules in FIG. 9, or not necessarily
include all modules in FIG. 9.
[0284] The traffic flow control device 900 shown in FIG. 9 may include a receiving module
910, a processing module 920, and a sending module 930.
[0285] The receiving module 910 is configured to receive traffic control request signaling
sent by a first vehicle, where the traffic control request signaling includes current
travel information of the first vehicle and a travel intention of the first vehicle.
[0286] The processing module 920 is configured to determine follow command signaling based
on the traffic control request signaling, where the follow command signaling includes
identification information of a second vehicle that travels ahead of the first vehicle.
[0287] The sending module 930 is configured to send the follow command signaling to the
first vehicle.
[0288] Optionally, the processing module is specifically configured to determine the follow
command signaling when determining, based on the travel information, that the first
vehicle and the second vehicle are in a same lane, and a distance between the second
vehicle and the first vehicle is less than a preset distance threshold, and determining,
based on the travel intention, that the travel intention of the first vehicle is the
same as a travel intention of the second vehicle.
[0289] A schematic structural diagram of an in-vehicle device according to an embodiment
of this application is shown in FIG. 10. It should be understood that the in-vehicle
device 1000 shown in FIG. 10 is only an example. The in-vehicle device in this embodiment
of this application may further include another module or unit, or include modules
with functions similar to those of modules in FIG. 10, or not necessarily include
all modules in FIG. 10.
[0290] The in-vehicle device 1000 may include a sending module 1010 and a receiving module
1020.
[0291] The sending module 1010 is configured to send traffic control request signaling to
a traffic flow control device, where the traffic control request signaling includes
travel information of a first vehicle to which the in-vehicle device belongs and a
travel intention of the first vehicle.
[0292] The receiving module 1020 is configured for the in-vehicle device to receive follow
command signaling sent by the traffic flow control device, so that the first vehicle
travels according to the follow command signaling, where the follow command signaling
includes identification information of a second vehicle that travels ahead of the
first vehicle, and the follow command signaling is determined by the traffic flow
control device based on the traffic control request signaling.
[0293] Optionally, the travel information includes a location of the first vehicle and a
lane in which the first vehicle is located.
[0294] FIG. 11 is a schematic structural diagram of a traffic flow control device according
to another embodiment of this application. It should be understood that the traffic
flow control device 1100 shown in FIG. 11 is only an example. The traffic flow control
device in this embodiment of this application may further include another module or
unit, or include modules with functions similar to those of modules in FIG. 11, or
not necessarily include all modules in FIG. 11.
[0295] The traffic flow control device 1100 includes a processor 1120, a receiver 1130,
and a transmitter 1140. Optionally, the traffic flow control device 1100 may further
include a memory 1110. The receiver 1130 and the transmitter 1140 may be integrated
together to obtain a transceiver.
[0296] The processor 1120 may be configured to implement an operation or a step that is
performed by the processing module 720 in FIG. 7. The transmitter 1140 may be configured
to implement an operation or a step that is performed by the sending module 730 in
FIG. 7. The receiver 1130 may be configured to implement an operation or a step that
is performed by the receiving module 710 in FIG. 7.
[0297] The memory 1110 is configured to store program code executed by the processor 1120,
and the memory may be integrated to the processor 1120.
[0298] FIG. 12 is a schematic structural diagram of an in-vehicle device according to another
embodiment of this application. It should be understood that the in-vehicle device
1200 shown in FIG. 12 is only an example. The in-vehicle device in this embodiment
of this application may further include another module or unit, or include modules
with functions similar to those of modules in FIG. 12, or not necessarily include
all modules in FIG. 12.
[0299] The in-vehicle device 1200 includes a processor 1220, a receiver 1230, and a transmitter
1240. Optionally, the in-vehicle device 1200 may further include a memory 1210. The
receiver 1230 and the transmitter 1240 may be integrated together to obtain a transceiver.
[0300] The processor 1220 may be configured to execute program code to control the receiver
and the transmitter. The transmitter 1240 may be configured to implement an operation
or a step that is performed by the sending module 810 in FIG. 8. The receiver 1230
may be configured to implement an operation or a step that is performed by the receiving
module 820 in FIG. 8.
[0301] The memory 1210 is configured to store program code executed by the processor 1220,
and the memory may be integrated to the processor 1220.
[0302] FIG. 13 is a schematic structural diagram of a traffic flow control device according
to another embodiment of this application. It should be understood that the traffic
flow control device 1300 shown in FIG. 13 is only an example. The traffic flow control
device in this embodiment of this application may further include another module or
unit, or include modules with functions similar to those of modules in FIG. 13, or
not necessarily include all modules in FIG. 13.
[0303] The traffic flow control device 1300 includes a processor 1320, a receiver 1330,
and a transmitter 1340. Optionally, the traffic flow control device 1300 may further
include a memory 1310. The receiver 1330 and the transmitter 1340 may be integrated
together to obtain a transceiver.
[0304] The processor 1320 may be configured to implement an operation or a step that is
performed by the processing module 920 in FIG. 9. The transmitter 1340 may be configured
to implement an operation or a step that is performed by the sending module 930 in
FIG. 9. The receiver 1330 may be configured to implement an operation or a step that
is performed by the receiving module 910 in FIG. 9.
[0305] The memory 1310 is configured to store program code executed by the processor 1320,
and the memory may be integrated to the processor 1320.
[0306] FIG. 14 is a schematic structural diagram of an in-vehicle device according to another
embodiment of this application. It should be understood that the in-vehicle device
1400 shown in FIG. 14 is only an example. The in-vehicle device in this embodiment
of this application may further include another module or unit, or include modules
with functions similar to those of modules in FIG. 14, or not necessarily include
all modules in FIG. 14.
[0307] The in-vehicle device 1400 includes a processor 1420, a receiver 1430, and a transmitter
1440. Optionally, the in-vehicle device 1400 may further include a memory 1410. The
receiver 1430 and the transmitter 1440 may be integrated together to obtain a transceiver.
[0308] The processor 1420 may be configured to execute program code to control the receiver
and the transmitter. The transmitter 1440 may be configured to implement an operation
or a step that is performed by the sending module 1010 in FIG. 10. The receiver 1430
may be configured to implement an operation or a step that is performed by the receiving
module 1020 in FIG. 10.
[0309] The memory 1410 is configured to store program code executed by the processor 1420,
and the memory may be integrated to the processor 1420.
[0310] A person of ordinary skill in the art may be aware that the units and algorithm steps
in the examples described with reference to the embodiments disclosed in this specification
may be implemented by electronic hardware or a combination of computer software and
electronic hardware. Whether the functions are performed by hardware or software depends
on particular applications and design constraints of the technical solutions. A person
skilled in the art may use a different method to implement the described functions
for each particular application, but it should not be considered that the implementation
goes beyond the scope of this application.
[0311] It may be clearly understood by a person skilled in the art that for convenient and
brief description, for a detailed working process of the foregoing system, apparatus,
or unit, reference may be made to a corresponding process in the foregoing method
embodiments, and details are not described herein again.
[0312] In the several embodiments provided in this application, it should be understood
that the disclosed system, apparatus, and method may be implemented in other manners.
For example, the described apparatus embodiments are only examples. For example, the
unit division is only logical function division and may be other division in actual
implementation. For example, a plurality of units or components may be combined or
integrated into another system, or some features may be ignored or may be not performed.
In addition, the displayed or discussed mutual couplings or direct couplings or communication
connections may be indirect couplings or communication connections through some interfaces,
apparatuses, or units, and may be implemented in electrical, mechanical, or other
forms.
[0313] The units described as separate parts may or may not be physically separate. Parts
displayed as units may or may not be physical units, and may be located in one position
or distributed on a plurality of network units. Some or all of the units may be selected
based on actual requirements to achieve the objectives of the solutions of the embodiments.
[0314] In addition, function units in the embodiments of this application may be integrated
into one processing unit, or each of the units may exist alone physically, or two
or more units are integrated into one unit.
[0315] When the functions are implemented in the form of a software function unit and sold
or used as an independent product, the functions may be stored in a computer-readable
storage medium. Based on such an understanding, the technical solutions of this application
essentially, or the part contributing to the prior art, or some of the technical solutions
may be implemented in a form of a software product. The software product is stored
in a storage medium, and includes several instructions for instructing a computer
device (which may be a personal computer, a server, an apparatus, or the like) to
perform all or some of the steps of the methods described in the embodiments of this
application. The foregoing storage medium includes any medium that can store program
code, such as a USB flash drive, a removable hard disk, a read-only memory (read-only
memory, ROM), a random access memory (random access memory, RAM), a magnetic disk,
or an optical disc.
[0316] The foregoing descriptions are only specific implementations of this application,
but are not intended to limit the protection scope of this application. Any variation
or replacement readily figured out by a person skilled in the art within the technical
scope disclosed in this application shall fall within the protection scope of this
application. Therefore, the protection scope of this application shall be subject
to the protection scope of the claims.
1. A traffic flow control method in the internet of vehicles, comprising:
receiving, by a traffic flow control device, traffic control request signaling sent
by an in-vehicle device of a first vehicle, wherein the traffic control request signaling
comprises travel information of the first vehicle and a travel intention of the first
vehicle;
determining, by the traffic flow control device, traffic command signaling based on
the traffic control request signaling and traffic control phase information of a target
intersection, wherein the target intersection is an intersection through which the
first vehicle is to pass; and
sending, by the traffic flow control device, the traffic command signaling to the
in-vehicle device.
2. The traffic flow control method according to claim 1, wherein the traffic flow control
method further comprises:
determining, by the traffic flow control device, an entrance lane and an exit lane
of the first vehicle at the target intersection based on the travel information, the
travel intention, and lane information of the target intersection, wherein the entrance
lane is a lane that is allocated by the traffic flow control device to the first vehicle
for entering the target intersection, and the exit lane is a lane that is allocated
by the traffic flow control device to the first vehicle for exiting from the target
intersection; or
determining, by the traffic flow control device, an entrance lane and an exit lane
of the first vehicle at the target intersection based on the travel information, the
travel intention, lane information of the target intersection, and traffic flow information
of the target intersection.
3. The traffic flow control method according to claim 2, wherein the travel information
comprises a location of the first vehicle and a speed of the first vehicle; and
the traffic flow control method further comprises:
determining, by the traffic flow control device, a first time based on the speed of
the first vehicle, the location of the first vehicle, and a lane in which the first
vehicle is located, wherein the first time is a time required for the first vehicle
to travel off a stopline of the lane in which the first vehicle is located from the
location of the first vehicle along the lane in which the first vehicle is located,
and the lane in which the first vehicle is located is obtained by the traffic flow
control device through calculation based on the location of the first vehicle and
the lane information of the target intersection, or the lane in which the first vehicle
is located is carried in the travel information.
4. The traffic flow control method according to claim 3, wherein the travel information
further comprises an acceleration of the first vehicle, wherein
the determining, by the traffic flow control device, a first time based on the speed
of the first vehicle, the location of the first vehicle, and a lane in which the first
vehicle is located comprises:
determining, by the traffic flow control device, the first time based on the speed
of the first vehicle, the location of the first vehicle, the lane in which the first
vehicle is located, and the acceleration of the first vehicle.
5. The traffic flow control method according to claim 2, wherein the travel information
comprises a location of the first vehicle; and
the traffic flow control method further comprises:
determining, by the traffic flow control device, a first time based on a preset vehicle
speed at the target intersection, the location of the first vehicle, and a lane in
which the first vehicle is located, wherein the first time is a time required for
the first vehicle to travel off a stopline of the lane in which the first vehicle
is located from the location of the first vehicle along the lane in which the first
vehicle is located, and the lane in which the first vehicle is located is obtained
by the traffic flow control device through calculation based on the location of the
first vehicle and the lane information of the target intersection, or the lane in
which the first vehicle is located is carried in the travel information.
6. The traffic flow control method according to claim 3 or 4, wherein the determining,
by the traffic flow control device, traffic command signaling based on the traffic
control request signaling and traffic control phase information of a target intersection
comprises:
when a traffic control phase corresponding to the traffic control phase information
of the target intersection is a green-go phase, and a remaining time of the green-go
phase is longer than or equal to the first time, determining, by the traffic flow
control device, that the traffic command signaling is go command signaling, wherein
the go command signaling comprises the traffic control phase information of the target
intersection and information about the exit lane.
7. The traffic flow control method according to claim 3 or 4, wherein the determining,
by the traffic flow control device, traffic command signaling based on the traffic
control request signaling and traffic control phase information of a target intersection
comprises:
when a traffic control phase corresponding to the traffic control phase information
of the target intersection is a green-go phase, and a remaining time of the green-go
phase is shorter than the first time, determining, by the traffic flow control device,
that the traffic command signaling is first stop command signaling, wherein the first
stop command signaling comprises the traffic control phase information of the target
intersection and location information of the stopline of the lane in which the first
vehicle is located.
8. The traffic flow control method according to claim 7, wherein the traffic flow control
method further comprises:
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches again to the green-go phase, and the traffic flow
control device learns through monitoring that the first vehicle has traveled to the
stopline, sending, by the traffic flow control device, go command signaling to the
in-vehicle device, wherein the go command signaling comprises the traffic control
phase information of the target intersection and information about the exit lane;
or
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches again to the green-go phase, and the traffic flow
control device learns through monitoring that a time required for the first vehicle
to travel off the stopline of the lane in which the first vehicle is located from
a current location of the first vehicle at a current speed and acceleration of the
first vehicle along the lane in which the first vehicle is located is shorter than
or equal to a remaining time of the green-go phase to which the traffic control phase
switches again, sending, by the traffic flow control device, go command signaling
to the in-vehicle device, wherein the go command signaling comprises the traffic control
phase information of the target intersection and information about the exit lane;
or
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches again to the green-go phase, and the traffic flow
control device learns through monitoring that a time required for the first vehicle
to travel off the stopline of the lane in which the first vehicle is located from
a current location of the first vehicle at a current speed and acceleration of the
first vehicle along the lane in which the first vehicle is located is longer than
a remaining time of the green-go phase to which the traffic control phase switches
again, sending, by the traffic flow control device, second stop command signaling
to the in-vehicle device, wherein the second stop command signaling comprises the
traffic control phase information of the target intersection and the location information
of the stopline of the lane in which the first vehicle is located.
9. The traffic flow control method according to any one of claims 2 to 4, wherein the
determining, by the traffic flow control device, traffic command signaling based on
the traffic control request signaling and traffic control phase information of a target
intersection comprises:
when a traffic control phase corresponding to current traffic control phase information
of the target intersection is a red-stop phase, determining, by the traffic flow control
device, that the traffic command signaling is first stop command signaling, wherein
the first stop command signaling comprises the traffic control phase information of
the target intersection and location information of the stopline of the lane in which
the first vehicle is located, and the lane in which the first vehicle is located is
obtained by the traffic flow control device through calculation based on the location
of the first vehicle and the lane information of the target intersection, or the lane
in which the first vehicle is located is carried in the travel information.
10. The traffic flow control method according to claim 9, wherein the traffic flow control
method further comprises:
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches to a green-go phase, and the traffic flow control
device learns through monitoring that the first vehicle has traveled to the stopline,
sending, by the traffic flow control device, go command signaling to the in-vehicle
device, wherein the go command signaling comprises the traffic control phase information
of the target intersection and information about the exit lane; or
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches to a green-go phase, and the traffic flow control
device learns through monitoring that a time required for the first vehicle to travel
off the stopline of the lane in which the first vehicle is located from a current
location of the first vehicle at a current speed and acceleration of the first vehicle
along the lane in which the first vehicle is located is shorter than or equal to a
remaining time of the green-go phase, sending, by the traffic flow control device,
go command signaling to the in-vehicle device, wherein the go command signaling comprises
the traffic control phase information of the target intersection and information about
the exit lane; or
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches to a green-go phase, and the traffic flow control
device learns through monitoring that a time required for the first vehicle to travel
off the stopline of the lane in which the first vehicle is located from a current
location of the first vehicle at a current speed and acceleration of the first vehicle
along the lane in which the first vehicle is located is longer than a remaining time
of the green-go phase, sending, by the traffic flow control device, second stop command
signaling to the in-vehicle device, wherein the second stop command signaling comprises
the traffic control phase information of the target intersection and location information
of the stopline of the lane in which the first vehicle is located.
11. The traffic flow control method according to claim 5, wherein the determining, by
the traffic flow control device, traffic command signaling based on the traffic control
request signaling and traffic control phase information of a target intersection comprises:
when a traffic control phase corresponding to the traffic control phase information
of the target intersection is a green-go phase, and a remaining time of the green-go
phase is longer than or equal to the first time, determining, by the traffic flow
control device, that the traffic command signaling is go command signaling, wherein
the go command signaling comprises the traffic control phase information of the target
intersection, information about the exit lane, and the preset vehicle speed at the
target intersection.
12. The traffic flow control method according to claim 5, wherein the determining, by
the traffic flow control device, traffic command signaling based on the traffic control
request signaling and traffic control phase information of a target intersection comprises:
when a traffic control phase corresponding to the traffic control phase information
of the target intersection is a green-go phase, and a remaining time of the green-go
phase is shorter than the first time, determining, by the traffic flow control device,
that the traffic command signaling is first stop command signaling, wherein the first
stop command signaling comprises the traffic control phase information of the target
intersection, location information of the stopline of the lane in which the first
vehicle is located, and the preset vehicle speed at the target intersection.
13. The traffic flow control method according to claim 12, wherein the traffic flow control
method further comprises:
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches again to the green-go phase, and the traffic flow
control device learns through monitoring that the first vehicle has traveled to the
stopline, sending, by the traffic flow control device, go command signaling to the
in-vehicle device, wherein the go command signaling comprises the traffic control
phase information of the target intersection, information about the exit lane, and
the preset vehicle speed at the target intersection; or
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches again to the green-go phase, and the traffic flow
control device learns through monitoring that a time required for the first vehicle
to travel off the stopline of the lane in which the first vehicle is located from
a current location of the first vehicle at the preset vehicle speed at the target
intersection along the lane in which the first vehicle is located is shorter than
or equal to a remaining time of the green-go phase to which the traffic control phase
switches again, sending, by the traffic flow control device, go command signaling
to the in-vehicle device, wherein the go command signaling comprises the traffic control
phase information of the target intersection, information about the exit lane, and
the preset vehicle speed at the target intersection; or
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches again to the green-go phase, and the traffic flow
control device learns through monitoring that a time required for the first vehicle
to travel off the stopline of the lane in which the first vehicle is located from
a current location of the first vehicle at the preset vehicle speed at the target
intersection along the lane in which the first vehicle is located is longer than a
remaining time of the green-go phase to which the traffic control phase switches again,
sending, by the traffic flow control device, second stop command signaling to the
in-vehicle device, wherein the second stop command signaling comprises the traffic
control phase information of the target intersection, the location information of
the stopline of the lane in which the first vehicle is located, and the preset vehicle
speed at the target intersection.
14. The traffic flow control method according to claim 5, wherein the determining, by
the traffic flow control device, traffic command signaling based on the traffic control
request signaling and traffic control phase information of a target intersection comprises:
when a traffic control phase corresponding to the traffic control phase information
of the target intersection is a red-stop phase, determining, by the traffic flow control
device, that the traffic command signaling is first stop command signaling, wherein
the first stop command signaling comprises the traffic control phase information of
the target intersection, location information of the stopline of the lane in which
the first vehicle is located, and the preset vehicle speed at the target intersection.
15. The traffic flow control method according to claim 14, wherein the traffic flow control
method further comprises:
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches to a green-go phase, and the traffic flow control
device learns through monitoring that the first vehicle has traveled to the stopline,
sending, by the traffic flow control device, go command signaling to the in-vehicle
device, wherein the go command signaling comprises the traffic control phase information
of the target intersection, information about the exit lane, and the preset vehicle
speed at the target intersection; or
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches to a green-go phase, and the traffic flow control
device learns through monitoring that a time required for the first vehicle to travel
off the stopline of the lane in which the first vehicle is located from a current
location of the first vehicle at the preset vehicle speed at the target intersection
along the lane in which the first vehicle is located is shorter than or equal to a
time of the green-go phase, sending, by the traffic flow control device, go command
signaling to the in-vehicle device, wherein the go command signaling comprises the
traffic control phase information of the target intersection, information about the
exit lane, and the preset vehicle speed at the target intersection; or
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches to a green-go phase, and the traffic flow control
device learns through monitoring that a time required for the first vehicle to travel
off the stopline of the lane in which the first vehicle is located from a current
location of the first vehicle at the preset vehicle speed at the target intersection
along the lane in which the first vehicle is located is longer than a time of the
green-go phase, sending, by the traffic flow control device, second stop command signaling
to the in-vehicle device, wherein the second stop command signaling comprises the
traffic control phase information of the target intersection, the location information
of the stopline of the lane in which the first vehicle is located, and the preset
vehicle speed at the target intersection.
16. The traffic flow control method according to claim 3 or 4, wherein the determining,
by the traffic flow control device, traffic command signaling based on the traffic
control request signaling and traffic control phase information of a target intersection
comprises:
after the first time, when a traffic control phase corresponding to the traffic control
phase information of the target intersection is a green-go phase, determining, by
the traffic flow control device, that the traffic command signaling is go command
signaling, wherein the go command signaling comprises traffic control phase information
of the target intersection obtained after the first time and information about the
exit lane; or
after the first time, when a traffic control phase corresponding to the traffic control
phase information of the target intersection is a red-stop phase, determining, by
the traffic flow control device, that the traffic command signaling is stop command
signaling, wherein the stop command signaling comprises traffic control phase information
of the target intersection obtained after the first time and location information
of the stopline of the lane in which the first vehicle is located.
17. The traffic flow control method according to claim 5, wherein the determining, by
the traffic flow control device, traffic command signaling based on the traffic control
request signaling and traffic control phase information of a target intersection comprises:
after the first time, when a traffic control phase corresponding to the traffic control
phase information of the target intersection is a green-go phase, determining, by
the traffic flow control device, that the traffic command signaling is go command
signaling, wherein the go command signaling comprises traffic control phase information
of the target intersection obtained after the first time, the preset vehicle speed
at the target intersection, and information about the exit lane; or
after the first time, when a traffic control phase corresponding to the traffic control
phase information of the target intersection is a red-stop phase, determining, by
the traffic flow control device, that the traffic command signaling is stop command
signaling, wherein the stop command signaling comprises traffic control phase information
of the target intersection obtained after the first time, the preset vehicle speed
at the target intersection, and location information of the stopline of the lane in
which the first vehicle is located.
18. The traffic flow control method according to claim 2, wherein the determining, by
the traffic flow control device, traffic command signaling based on the traffic control
request signaling and traffic control phase information of a target intersection comprises:
when a distance between the first vehicle and a second vehicle that travels ahead
of the first vehicle and that is located in a lane in which the first vehicle is located
is less than a preset distance threshold, sending, by the traffic flow control device,
follow command signaling to the in-vehicle device, wherein the follow command signaling
comprises identification information of the second vehicle, and the lane in which
the first vehicle is located is obtained by the traffic flow control device through
calculation based on a location of the first vehicle and the lane information of the
target intersection, or the lane in which the first vehicle is located is carried
in the travel information.
19. The traffic flow control method according to claim 18, wherein the traffic flow control
method further comprises:
when a traffic control phase corresponding to the traffic control phase information
of the target intersection is a green-go phase, a time required for the second vehicle
to travel off a stopline of the lane in which the first vehicle is located from a
current location of the second vehicle is shorter than or equal to a remaining time
of the green-go phase, and a time required for the first vehicle to travel off the
stopline of the lane in which the first vehicle is located from a current location
of the first vehicle is longer than the remaining time of the green-go phase, sending,
by the traffic flow control device, stop command signaling to the in-vehicle device,
wherein the stop command signaling comprises the traffic control phase information
of the target intersection and location information of the stopline of the lane in
which the first vehicle is located.
20. The traffic flow control method according to claim 19, wherein the traffic flow control
method further comprises:
when the traffic control phase corresponding to the traffic control phase information
of the target intersection switches again to the green-go phase, and the traffic flow
control device learns through monitoring that the first vehicle has traveled to the
stopline of the lane in which the first vehicle is located, sending, by the traffic
flow control device, go command signaling to the in-vehicle device, wherein the go
command signaling comprises the traffic control phase information of the target intersection
and information about the exit lane.
21. The traffic flow control method according to claim 2, wherein the determining, by
the traffic flow control device, traffic command signaling based on the traffic control
request signaling and traffic control phase information of a target intersection comprises:
when a lane in which the first vehicle is located is not the entrance lane, sending,
by the traffic flow control device, lane change command signaling to the in-vehicle
device, wherein the lane change command signaling comprises information about the
entrance lane, and the lane in which the first vehicle is located is obtained by the
traffic flow control device through calculation based on a location of the first vehicle
and the lane information of the target intersection, or the lane in which the first
vehicle is located is carried in the travel information.
22. The traffic flow control method according to claim 21, wherein the traffic flow control
method further comprises:
sending, by the traffic flow control device, stop command signaling or deceleration
command signaling to a third vehicle that is in the entrance lane and that is at the
rear of the first vehicle, wherein the stop command signaling comprises information
about a location at which the third vehicle is to stop, and the deceleration command
signaling comprises speed information of the third vehicle after deceleration.
23. The traffic flow control method according to any one of claims 2 to 22, wherein the
determining, by the traffic flow control device, an entrance lane and an exit lane
of the first vehicle at the target intersection based on the travel information, the
travel intention, lane information of the target intersection, and traffic flow information
of the target intersection comprises:
determining, by the traffic flow control device, a plurality of entrance lanes based
on the travel intention and the lane information of the target intersection;
determining, by the traffic flow control device, the entrance lane from the plurality
of entrance lanes based on the traffic flow information of the target intersection
and the lane in which the first vehicle is located, wherein the lane in which the
first vehicle is located is obtained by the traffic flow control device through calculation
based on the location of the first vehicle and the lane information of the target
intersection, or the lane in which the first vehicle is located is carried in the
travel information;
determining, by the traffic flow control device, a plurality of exit lanes based on
the travel intention and the lane information of the target intersection; and
determining, by the traffic flow control device, the exit lane from the plurality
of exit lanes based on the traffic flow information of the target intersection and
the entrance lane.
24. The traffic flow control method according to any one of claims 1 to 23, wherein the
traffic control phase information of the target intersection is traffic control phase
information that is obtained by the traffic flow control device from a traffic signal
light of the target intersection, or is traffic control phase information that is
generated by the traffic flow control device.
25. A traffic flow control method in the internet of vehicles, comprising:
sending, by an in-vehicle device of a first vehicle, traffic control request signaling
to a traffic flow control device, wherein the traffic control request signaling comprises
travel information of the first vehicle and a travel intention of the first vehicle,
and the first vehicle is located in a management area of the traffic flow control
device; and
receiving, by the in-vehicle device, traffic command signaling sent by the traffic
flow control device, so that the first vehicle travels according to the traffic command
signaling, wherein the traffic command signaling is determined by the traffic flow
control device based on the traffic control request signaling and traffic control
phase information of a target intersection, and the target intersection is an intersection
through which the first vehicle is to pass.
26. The traffic flow control method according to claim 25, wherein the traffic command
signaling comprises at least one of go command signaling, stop command signaling,
follow command signaling, and lane change command signaling, wherein the go command
signaling comprises the traffic control phase information of the target intersection
and information about an exit lane of the first vehicle at the target intersection,
or the go command signaling comprises the traffic control phase information of the
target intersection, a preset vehicle speed at the target intersection, and information
about an exit lane of the first vehicle at the target intersection; the stop command
signaling comprises traffic control phase information of the target intersection and
location information of a stopline of a lane in which the first vehicle is located,
or the stop command signaling comprises traffic control phase information of the target
intersection, location information of a stopline of a lane in which the first vehicle
is located, and a preset vehicle speed at the target intersection; the follow command
signaling comprises identification information of a second vehicle, wherein the second
vehicle is a vehicle that travels ahead of the first vehicle and that is located in
the lane in which the first vehicle is located, and a distance between the second
vehicle and the first vehicle is less than a preset distance threshold; and the lane
change command signaling comprises information about an entrance lane of the first
vehicle at the target intersection.
27. A traffic flow control device in the internet of vehicles, comprising a processor,
a receiver, and a transmitter, wherein the receiver and the transmitter are configured
to perform the traffic flow control method according to any one of claims 1 to 24
under control of the processor.
28. An in-vehicle device in the internet of vehicles, comprising a processor, a receiver,
and a transmitter, wherein the receiver and the transmitter are configured to perform
the traffic flow control method according to claim 25 or 26 under control of the processor.
29. A computer-readable storage medium, wherein the computer-readable storage medium stores
program code to be executed by a traffic flow control device, and the program code
comprises an instruction for performing the traffic flow control method according
to any one of claims 1 to 24.
30. A computer-readable storage medium, wherein the computer-readable storage medium stores
program code to be executed by an in-vehicle device, and the program code comprises
an instruction for performing the traffic flow control method according to claim 25
or 26.